announce galaxy on the local network

Merge Nate's Galaxy Bluetooth companion changes into Dom
clean up companion app files
2026-11-01 03:24:05 +08:00 · 2026-10-11 13:24:05 -04:00 · 2026-10-09 23:07:06 -04:00 · 2026-10-09 13:06:15 -04:00 · 2026-10-09 12:59:31 -04:00 · 2026-10-09 12:59:31 -04:00
925 changed files with 137971 additions and 6603 deletions
@@ -0,0 +1,56 @@
+name: Fleet controller safety
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - 'opendbc_repo/**'
+      - 'selfdrive/car/**'
+      - 'starpilot/car/**'
+      - 'starpilot/controls/**'
+      - 'cereal/**'
+      - '.github/workflows/fleet_safety.yaml'
+
+permissions:
+  contents: read
+
+jobs:
+  harness:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
+      - name: Audit accounting and runner failures
+        run: >-
+          python -m pytest --noconftest -o addopts='' -q
+          selfdrive/car/tests/test_fleet_safety_core.py
+          selfdrive/car/tests/test_fleet_safety_runner.py
+          opendbc_repo/opendbc/safety/tests/safety_replay/test_replay_drive.py
+  recorded_fleet:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 90
+    strategy:
+      fail-fast: false
+      matrix:
+        shard: [0, 1, 2, 3, 4, 5, 6, 7]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
+      - name: Current controllers against freshly compiled release safety
+        run: >-
+          python -m selfdrive.car.tests.fleet_safety --all --release
+          --shard-count 8 --shard-index ${{ matrix.shard }}
+          --out selfdrive/car/tests/fleet_results/ci
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: fleet-safety-${{ matrix.shard }}
+          path: |
+            selfdrive/car/tests/fleet_results/ci/**/*.json
+            selfdrive/car/tests/fleet_results/ci/**/*.log
@@ -27,6 +27,10 @@ add_panda_targets() {
    panda_h7_remote_can_ignition_only
    panda_hkg_remote_can_ignition_only
    panda_h7_hkg_remote_can_ignition_only
+    panda_tesla_wake
+    panda_h7_tesla_wake
+    panda_tesla_wake_can_ignition_only
+    panda_h7_tesla_wake_can_ignition_only
    panda_jungle_h7
    body_h7
  )
@@ -14,6 +14,7 @@ using Car = import "car.capnp";

 struct StarPilotCarControl @0x81c2f05a394cf4af {
  hudControl @0 :HUDControl;
+  steeringLimitInfo @1 :SteeringLimitInfo;

  struct HUDControl {
    audibleAlert @0 :AudibleAlert;
@@ -49,6 +50,16 @@ struct StarPilotCarControl @0x81c2f05a394cf4af {
      uwu @22;
    }
  }
+
+  struct SteeringLimitInfo {
+    valid @0 :Bool;
+    modelLimitErrorDeg @1 :Float32;
+    resumeLimitErrorDeg @2 :Float32;
+    cooperativeLimitErrorDeg @3 :Float32;
+    cooperativeOffsetDeg @4 :Float32;
+    monoTime @5 :UInt64;
+    combinedLimitErrorDeg @6 :Float32;
+  }
 }

 struct StarPilotCarParams @0xaedffd8f31e7b55d {
@@ -226,6 +237,8 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
  cscLearnedLatAccel @40 :Float32;  # learned comfort at the current curvature, before margin
  cscBindingDistance @41 :Float32;  # distance to the horizon point setting the target, m
  approachStopLength @42 :Float32;  # pre-commit distance to a detected stop, m; 0 when off
+  slcPresentedSpeedLimitSource @43 :Text;  # source of the shown accepted or pending posted limit
+  slcIsLimitingMaxSet @44 :Bool;  # SLC target is below the configured Max Set
 }

 struct StarPilotRadarState @0xb86e6369214c01c8 {
@@ -152,7 +152,8 @@ class FrequencyTracker:
 class SubMaster:
  def __init__(self, services: List[str], poll: Optional[str] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               ignore_valid: Optional[list[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None,
+               drain_services: list[str] | None = None):
    self.frame = -1
    self.services = services
    self.seen = {s: False for s in services}
@@ -160,6 +161,9 @@ class SubMaster:
    self.recv_time = {s: 0. for s in services}
    self.recv_frame = {s: 0 for s in services}
    self.sock = {}
+    self.drained = {s: [] for s in (drain_services or [])}
+    if not self.drained.keys() <= set(services):
+      raise ValueError("Drained services must be subscribed")
    self.data = {}
    self.logMonoTime = {s: 0 for s in services}

@@ -187,7 +191,7 @@ class SubMaster:

    for s in services:
      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=s not in self.drained)

      try:
        data = new_message(s)
@@ -207,14 +211,28 @@ class SubMaster:
  def _check_avg_freq(self, s: str) -> bool:
    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)

+  def _recv_socket(self, sock):
+    message = recv_one_or_none(sock)
+    if not self.drained or message is None:
+      return message
+    # Native Poller returns fresh socket wrappers; identify the service by data.
+    service = message.which()
+    if service not in self.drained:
+      return message
+    # Preserve event edges for observers, but update state/frequency only once.
+    self.drained[service] = [message, *drain_sock(sock)]
+    return self.drained[service][-1]
+
  def update(self, timeout: int = 100) -> None:
+    for service in self.drained:
+      self.drained[service] = []
    msgs = []
    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
+      msgs.append(self._recv_socket(sock))

    # non-blocking receive for non-polled sockets
    for s in self.non_polled_services:
-      msgs.append(recv_one_or_none(self.sock[s]))
+      msgs.append(self._recv_socket(self.sock[s]))
    self.update_msgs(time.monotonic(), msgs)

  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
@@ -262,6 +280,7 @@ class SubMaster:
      ignore_valid=self.ignore_valid,
      addr=self.addr,
      frequency=None if self.poll is not None else self.update_freq,
+      drain_services=list(self.drained),
    )


@@ -1,5 +1,6 @@
 import random
 import time
+import pytest
 from typing import Sized, cast

 import cereal.messaging as messaging
@@ -16,6 +17,29 @@ class TestSubMaster:
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)

+  @pytest.mark.parametrize("poll", [None, "deviceState"])
+  def test_drain_preserves_short_events_with_native_socket_wrappers(self, poll):
+    pub = messaging.PubMaster(["carState", "deviceState"])
+    sm = messaging.SubMaster(["carState", "deviceState"], poll=poll, drain_services=["carState"])
+    zmq_sleep()
+    pressed = messaging.new_message("carState", valid=True)
+    button = pressed.carState.init("buttonEvents", 1)[0]
+    button.type, button.pressed = "accelCruise", True
+    pub.send("carState", pressed)
+    latest = messaging.new_message("carState", valid=True)
+    latest.carState.vEgo = 12.0
+    pub.send("carState", latest)
+    pub.send("deviceState", messaging.new_message("deviceState", valid=True))
+    sm.update(1000)
+    assert len(sm.drained["carState"]) == 2
+    assert sm.drained["carState"][0].carState.buttonEvents[0].pressed
+    assert sm["carState"].vEgo == 12.0 and not sm["carState"].buttonEvents
+    assert sm.logMonoTime["carState"] == latest.logMonoTime
+    assert sm.frame == 0 and all(sm.updated.values())
+    sm.update(0)
+    assert sm.drained["carState"] == []
+    assert sm.frame == 1 and not any(sm.updated.values())
+
  def test_init(self):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -18,6 +18,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"BootCount", {PERSISTENT, INT}},
    {"BluetoothAudioAddress", {PERSISTENT, STRING}},
    {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
+    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
    {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
    {"CalibrationParams", {PERSISTENT, BYTES}},
    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
@@ -109,6 +110,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"LongitudinalPersonalityProfiles", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"NetworkMetered", {PERSISTENT, BOOL}},
    {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
    {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
@@ -196,7 +198,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"AllowImpossibleAcceleration", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
+    {"AlwaysOnLateral", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -316,7 +318,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
    {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
+    {"GalaxyDeviceName", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -350,6 +353,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DrivingModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
    {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
+    {"GpuModelReadySound", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"EngageVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
    {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
    {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -360,6 +364,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IgnoreIgnitionLine", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"TeslaWakeOnCAN", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"NAPAdaptiveAccel", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
    {"NAPFollowDistance", {PERSISTENT, INT, "4", "4"}},
@@ -384,6 +389,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
+    {"SonataHybridLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
    {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
    // These Ford curvature tuning concepts descend from BluePilot bp-7.0. StarPilot's key names and
    // settings integration are local; see /CREDITS.md and /THIRD_PARTY_NOTICES.md for provenance.
@@ -440,6 +446,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
    {"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
    {"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
+    {"AggressiveCoolingEnabled", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
    {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
@@ -463,7 +470,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
    {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
    {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
    {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
    {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
@@ -608,6 +616,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
+    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
    {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
    {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
@@ -617,6 +626,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
    {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2, SETTINGS_SIMPLE}},
@@ -626,6 +639,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
    {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
    {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
+    {"ShowBrakeStatus", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"ShowCCMStatus", {PERSISTENT, BOOL, "0", "0", 2}},
    {"ShowCPU", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -687,6 +701,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"StandbyWakeButton", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"StandbyButtonPressTime", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
+    {"ScreenOffToggleCounter", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
+    {"StandbyWakeEngage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeDisengage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeInfoAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeWarningAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeCriticalAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeTurnSignal", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartupMessageBottom", {PERSISTENT, STRING, "Always keep hands on wheel and eyes on road", "Always keep hands on wheel and eyes on road", 0}},
@@ -706,6 +729,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"EnableTorqueBarWidget", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"StingerObjectShadow", {PERSISTENT, BOOL, "0", "0", 3}},
    {"StockConfidenceBallWidget", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"StockDongleId", {PERSISTENT, STRING, "", ""}},
    {"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
@@ -719,8 +743,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"SubaruAvhStartup", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruRedneckCruise", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"TeslaAOLDisengageOnBrake", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"TeslaAOLScreenTap", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
    {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
@@ -5,7 +5,7 @@ import threading
 import time
 import uuid

-from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName

 class TestParams:
  def setup_method(self):
@@ -128,6 +128,31 @@ class TestParams:
    assert self.params.get("LiveParameters") is None
    assert self.params.get("LiveParameters", return_default=True) is None

+  def test_longitudinal_personality_profiles_json_round_trip(self):
+    key = "LongitudinalPersonalityProfiles"
+    value = {
+      "schemaVersion": 1,
+      "enabled": False,
+      "axes": {
+        "acceleration": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "maximum_requested_acceleration"},
+        },
+        "braking": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "cruise_slc_deceleration_magnitude"},
+        },
+        "following": {"speed": {"unit": "mph", "values": [0, 10, 20, 30, 40, 50, 60, 70, 80, 90]}, "value": {"unit": "s", "meaning": "base_time_headway"}},
+      },
+      "profiles": {},
+    }
+    self.params.remove(key)
+
+    assert self.params.get_type(key) == ParamKeyType.JSON
+    assert self.params.get(key) is None
+    self.params.put(key, value)
+    assert self.params.get(key) == value
+
  def test_params_get_type(self):
    # json
    self.params.put("ApiCache_DriveStats", {"a": 0})
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 453 Supported Cars
+# 454 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -265,6 +265,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
 |Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|K4 (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2026">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
@@ -0,0 +1,86 @@
+# Fleet offline audit — September 21, 2026
+
+This is a first-pass fault and coverage inventory, not fleet driving clearance.
+No hardware was accessed and no controller or safety policy was changed by this
+audit. Other work was concurrently modifying the checkout; per-case source and
+library hashes identify the tested implementations.
+
+The full debug-library run visited all 345 platforms. It evaluated both recorded
+and AOL-main scenarios for 287 registered routes, plus 108 missing-route entries:
+
+| Result | Cases |
+|---|---:|
+| Pass within the stated scope | 103 |
+| Failed checks, requiring triage | 123 |
+| Missing coverage | 288 |
+| Could not evaluate | 168 |
+| Total | 682 |
+
+These are case counts, not numbers of unsafe cars. Missing coverage includes all
+108 platforms without routes and segments without active transitions. Evaluation
+errors include unavailable recordings and identities that do not match the
+registered platform after the existing fingerprint migration. Old logs must be
+normalized explicitly, not quietly substituted for another car.
+
+Full local evidence is under
+`selfdrive/car/tests/fleet_results/full_fleet/results.json`, with per-shard build,
+case and worker logs. Generated evidence is ignored by Git.
+
+The follow-up full release-library run also completed 682 cases: **102 pass,
+153 failed, 289 uncovered, 138 evaluation errors**. Evidence is under
+`selfdrive/car/tests/fleet_results/release_fleet_checked/results.json`.
+The two batches had different download availability and ran against a changing
+working tree; their count difference is not an isolated debug-versus-release
+experiment. Both correctly exit nonzero. The release batch is not fleet clearance.
+
+## Confirmed distinctions from failure triage
+
+**Hyundai Custin — controller/safety capability mismatch.** The registered
+segment `0bbe367c98fa1538/2023-09-16--00-16-49/2` contains 600 camera-bus
+messages at 0x53e, all eight bytes, none six. `CarInterfaceBase.get_starpilot_params`
+in `opendbc_repo/opendbc/car/interfaces.py` enables HAS_LKAS12 by address alone.
+Hyundai `CarState.update` and `CarController.update` then produce six-byte LKAS12
+replacements. In `opendbc_repo/opendbc/safety/modes/hyundai.h`,
+`hyundai_rx_all_hook` only enables replacement after receiving a six-byte camera
+message, and `hyundai_tx_hook` correctly rejects the unsolicited replacement.
+Both scenarios reject 5,799 such packets. A fresh-library probe also reproduced
+the six-byte/eight-byte distinction. Repair requires a controller capability and
+parser regression test; do not broaden the safety allowlist to hide the mismatch.
+
+**Honda Civic Bosch — incompatible historical control requests.** All 5,997
+recorded requests in the inspected 2020 fixture have enabled/latActive/longActive
+false but resume true; all 6,000 cruise-state CAN messages are disabled. Current
+controller output is RES_ACCEL at 0x296, which current safety correctly blocks.
+The AOL probe suppresses resume and passes. Investigate historical command/schema
+semantics before calling this a current steering defect.
+
+**Ford Escape — mid-segment initialization artifact.** The first cruise-enabled
+0x165 enables controls, but the immediately following 0x202 reaches
+`speed_mismatch_check` before safety has nonzero speed history. Controls are
+revoked; cruise stays enabled for the entire segment so `pcm_cruise_check` sees
+no new rising edge. Relay health remains good. This reproduces with both recorded
+and default alternative experience. A two-second scoring warmup does not repair
+the latch. This needs recorded preroll/initialization coverage, not force-setting
+`controls_allowed` or changing vehicle safety.
+
+## Tesla and AOL scope
+
+In the full debug-library run, the Model 3 route and the second Model Y route
+passed both scenarios. The first Model Y route lacked a lateral transition;
+its AOL case also lacked requested steering under AOL-only safety permission.
+Model X was uncovered as a current dashcam-only configuration. The Model S HW1
+and Pre-AP entries have no registered routes. None of these findings reproduces
+or disproves the exact hackathon oscillation without its trace.
+
+The separate actual StarPilotCard synthetic-input suite passed 964 checks with
+72 explicit active-sequence gaps. All 345 disabled configurations were checked;
+309 platforms completed both active modes. These tests check state-machine gates
+and stable sequences, not the entire selfdrived-to-Panda feedback loop.
+
+The test-harness regressions pass 34 tests. They cover pre-hook AOL authorization,
+strict configuration/bus routing, rejected active packets, expected negative
+checks, empty activity, worker crashes, stale reports and build failures.
+
+See `FLEET_SAFETY_TESTING.md` for commands, CI scope and limitations. The workflow
+has been added locally but not published or run on GitHub, and branch protection
+has not been changed. The full fleet is not green.
@@ -0,0 +1,112 @@
+# Offline fleet controller and safety checks
+
+The runner in `selfdrive/car/tests/fleet_safety.py` enumerates every platform in
+the current checkout and uses `opendbc.car.tests.routes`. It runs current
+CarInterface/CarState/CarController code against recorded CAN and actuator
+requests, then checks each newly generated CAN packet with freshly compiled
+current safety hooks. It never connects to a Panda or starts vehicle processes.
+
+Run from the repository root with the repository Python environment:
+
+```sh
+python -m selfdrive.car.tests.fleet_safety --inventory
+python -m selfdrive.car.tests.fleet_safety --platform TESLA_MODEL_Y --release
+python -m selfdrive.car.tests.fleet_safety --all --release
+```
+
+An isolated dependency set is in `selfdrive/car/tests/fleet_requirements.txt`.
+The runner needs a C compiler. It does not use a previously staged libsafety.
+Without `--release`, the safety library enables ALLOW_DEBUG, like the existing
+safety unit tests. Release checks are needed as well: a debug-only hook must not
+be mistaken for an available production configuration. Release host builds retain
+unused-variable warnings without treating that specific diagnostic as an error.
+
+For parallel runs, use separate output directories:
+
+```sh
+python -m selfdrive.car.tests.fleet_safety --all --release \
+  --shard-count 8 --shard-index 0 --out selfdrive/car/tests/fleet_results/shard_0
+```
+
+Run indices 0 through 7. Each has its own library copies, worker processes,
+parameter namespace, logs and results. `--local-log` allows a local rlog for one
+explicitly selected platform. Route IDs and old fingerprint aliases must match;
+the harness does not silently treat another vehicle's log as that platform.
+
+## What is checked
+
+- Recorded commands under the current default feature configuration.
+- A separate AOL MAIN-availability controller/safety probe, using recorded
+  actuator values with longitudinal requests and cruise button requests off.
+- Actual per-Panda safety model, CP/FPCP safety-param OR, alternative-experience
+  OR, and strict four-bus routing, matching production configuration assembly.
+- Incoming CAN, current CarState validity and safety receive health.
+- Every emitted TX, including inactive-state packets; unexpected rejection fails.
+- Pre-hook normal/AOL/longitudinal permissions, so a rejection that revokes
+  authorization cannot disappear from the failure accounting.
+- Active requests, accepted active TX, engagement transitions, and AOL-only
+  safety authorization coverage. Sparse commands and absent transitions cannot
+  qualify as complete coverage.
+
+There is a two-second unscored fixture startup interval. Controller and safety
+history still receive messages during it. The harness does not force safety
+authorization or clear a relay fault to manufacture a passing result.
+
+## Results are deliberately strict
+
+`pass` means the case satisfied these specific checks and coverage requirements.
+`failed` means a hook/health check failed and needs investigation. `uncovered`
+means the scenario was not demonstrated, including missing routes, dashcam-only
+interfaces and segments without transitions. `error` means the case could not be
+evaluated, such as download failure or mismatched fixture identity. Anything
+other than pass makes the command exit nonzero. Existing `non_tested_cars`
+exemptions remain visible coverage gaps.
+
+Reports include frame counters, bounded rejected packet evidence, source hashes,
+effective safety configurations and build provenance. Worker results carry a
+unique execution ID; a crash, stale result or inconsistent exit code cannot be
+reused as a pass. JSON and logs live under the ignored `fleet_results` directory.
+
+The AOL probe is **not** a complete simulation of StarPilotCard, selfdrived,
+controls mismatch handling or a vehicle ECU. Recorded commands may also reflect
+historical settings different from current defaults. A blocked historical resume
+request is not automatically a steering bug. Investigate each failure before
+changing code. Do not widen safety permissions to make tests green.
+
+## Continuous integration and remaining coverage
+
+`starpilot/controls/tests/test_fleet_aol.py` separately exercises the actual
+StarPilotCard state machine with isolated synthetic inputs for every platform.
+It tests feature-off behavior, steady engagement, AOL-only operation, brake
+pause, native/StarPilot immediate-disable alerts, calibration and gear gates.
+It uses empty firmware/fingerprint fixtures, so optional vehicle configurations
+are not covered by these sequences. Run it with a compatible built host runtime:
+
+```sh
+python -m pytest --noconftest -o addopts='' -q starpilot/controls/tests/test_fleet_aol.py
+```
+
+The first run passed 964 checks and explicitly skipped 72 active sequences:
+309 platforms exercised both active modes; 36 platforms had two gaps each
+(30 dashcam-only, one notCar, four Volvo policy exclusions, one Pre-AP external
+authorization dependency). All 345 feature-off checks passed. A separate
+Pre-AP authorization input boundary test is synthetic, not proof of actual
+Panda authorization. These tests were run against the current working tree,
+including concurrent Pre-AP changes; they do not certify an earlier commit.
+The lightweight CI workflow below does not build the native runtime required
+by this separate state-machine suite.
+
+`.github/workflows/fleet_safety.yaml` adds harness tests and eight release-mode
+recorded-route shards on relevant pull requests and manual runs. Missing coverage
+is not converted to a skip or allowed failure. The current fleet is not green;
+this workflow will expose that fact. It has not been executed on GitHub from this
+local task. Requiring it for merge also needs repository branch protection; a
+workflow file alone does not change repository settings.
+
+As of the first September 21 inventory there are 345 platforms, 287 registered
+routes across 237 platforms, and 108 platforms with no registered route. A route
+entry does not guarantee valid, downloadable logs or all necessary maneuvers.
+Every optional harness, longitudinal mode, safety parameter, firmware generation
+and AOL configuration still needs explicit coverage. Offline checks reduce
+blind spots; they do not certify every physical vehicle or reproduce an incident
+whose CAN trace was not retained.
@@ -0,0 +1,80 @@
+# Custom personality graphs
+
+Each personality keeps its own Custom acceleration, braking and following curve.
+Selecting a named preset changes the active selection without deleting Custom
+points. Selecting Custom again restores those points, including after a reload
+or restart. If a category has never had Custom points, it is initialized from
+the current selection, as before.
+
+The existing **Reset to default** button, below each Custom graph's numeric
+points in New Galaxy's Advanced section, replaces only that category's Custom
+curve. It leaves the category set to Custom. The server resolves the reset
+values; the dashed **Dom default** line uses the same resolver.
+
+Defaults are Dom's configured base curves sampled at the editor's 10 mph
+points. They include Traffic's dedicated acceleration and braking, following
+settings, global tuning switches and powertrain overrides. Where gear mapping
+is enabled, the reference uses normal gear. Live Eco/Sport gear, weather,
+lead/stop and overspeed adjustments remain on the existing controller paths.
+Sampling cannot reproduce every native breakpoint or between-point value;
+resetting a Custom graph is not the same as delegating to the Dom-default
+runtime path.
+
+Dom-default points outside the ordinary editor range (such as Traffic braking
+at 0.35 m/s², configured Traffic following at 0.5 seconds or truck acceleration
+at 6 m/s²) remain visible and are preserved when another point is edited.
+New point edits still use the existing authoring bounds. This does not expand
+braking authority or change acceleration/braking preset definitions.
+
+## Following presets
+
+Named following presets now match Dom's factory following settings with custom
+personalities enabled. Close follows Aggressive, Medium follows Standard and
+Far follows Relaxed. The presets are available in every personality.
+
+| Preset | Previous curve | Revised curve |
+| --- | --- | --- |
+| Close | 1.25 s at every speed | 1.25 s through 45 mph, falling to 1.0 s at 70 mph |
+| Medium | 1.45 s at every speed | 1.45 s through 45 mph, falling to 1.2 s at 70 mph |
+| Far | 1.75 s at every speed | 1.6 s through 45 mph, falling to 1.4 s at 70 mph |
+| Traffic | No named preset | 0.75 s at rest, rising to 1.6 s at 25 m/s (55.92 mph) |
+
+Interpolation is linear between the stated breakpoints and constant outside
+them. Named presets use the exact native speed axes at runtime. First-use
+Custom conversion samples them onto the existing 10 mph editor grid.
+
+Existing v1/v2 Close, Medium and Far selections keep their old fixed headways
+as `legacy_close`, `legacy_medium` and `legacy_far`. Both Galaxy pickers show
+the selected compatibility entry as **Previous Close**, **Previous Medium**
+or **Previous Far**. Explicitly selecting a current preset adopts its new curve.
+The previous entry disappears when it is no longer selected.
+
+Existing `dom_default` selections continue to inherit configured settings;
+they are not silently converted to fixed named presets. Fresh profiles also
+retain this inheritance. The named curves match untouched factory settings;
+users' changed global following values can still differ from them.
+
+Acceleration and braking presets are unchanged. Standard acceleration and Eco
+braking match the normal factory defaults for Aggressive, Standard and Relaxed
+when named-preset and global powertrain tuning agree. Named presets use detected
+EV/truck tuning; the Dom-default resolver respects the global tuning switches,
+so these can differ. Traffic retains its dedicated acceleration/braking defaults;
+this change adds only its named following preset.
+
+## Storage compatibility
+
+Profile document version 3 retains `curve` and optional `legacyCurve` while
+`preset` is a named preset or `dom_default`. These retained values are dormant;
+only Custom uses them. An actual graph edit or reset retires preserved v1
+interpolation for that category; a preset switch or unchanged submission does
+not.
+
+Valid v2 documents retain their runtime meaning and are upgraded on the next
+normal write, including the fixed following compatibility names above.
+Version 1 keeps its existing explicit, verified migration flow. Reads never
+rewrite Params. Category conflict detection, off-road checks and atomic profile
+document writes still apply to edits and resets.
+
+Older builds do not understand v3 documents. Retain a compatible settings
+backup before rolling back to one of those builds. Curves discarded before
+this change cannot be recovered automatically.
@@ -133,6 +133,10 @@ function launch {
  # start manager
  cd system/manager

+  if [ -f /AGNOS ]; then
+    timeout 15s python3 "$DIR/tools/galaxy_bluetooth/settings_backup.py" || echo "Galaxy settings backup unavailable"
+  fi
+
  sp_launch_timing "launch_param_migrations_start"
  if ! python3 ./launch_param_migrations.py; then
    echo "Launch param migrations failed; continuing boot."
@@ -21,11 +21,11 @@ fi
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.20"
+  export AGNOS_VERSION="19.8.1"
 fi

 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
-  export AGNOS_ACCEPTED_VERSIONS="$AGNOS_VERSION"
+  export AGNOS_ACCEPTED_VERSIONS="19.8.1 19.8.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -1,3 +1,4 @@
 include opendbc/car/car.capnp
 include opendbc/car/include/c++.capnp
+include opendbc/dbc/hyundai_kia_ray_pedal.dbc
 recursive-include opendbc/safety *.h
@@ -1,6 +1,6 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->

-# Support Information for 518 Known Cars
+# Support Information for 519 Known Cars

 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
@@ -287,6 +287,7 @@
 |Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|K4 (without HDA II) 2026|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -13,7 +13,7 @@ from opendbc.car.subaru.subarucan import subaru_checksum
 from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
 from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
 from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
-from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
+from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
 from opendbc.car.psa.psacan import psa_checksum
@@ -194,8 +194,10 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
    return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
  elif dbc_name.startswith(("toyota_", "lexus_")):
    return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
-  elif dbc_name.startswith("hyundai_canfd_generated"):
+  elif dbc_name.startswith(("hyundai_canfd_generated", "hyundai_radar_210_21f_generated")):
    return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
+  elif dbc_name.startswith("vw_meb_2024"):
+    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_meb_alt_crc_checksum)
  elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
  elif dbc_name.startswith("vw_mlb"):
@@ -90,6 +90,7 @@ class Bus(StrEnum):
  main = auto()
  party = auto()
  ap_party = auto()
+  ap_pt = auto()


 def rate_limit(new_value, last_value, dw_step, up_step):
@@ -56,6 +56,20 @@ GM_CANDIDATE_PREFIXES = ("CHEVROLET_", "GMC_", "CADILLAC_", "BUICK_", "HOLDEN_")
 GM_CORE_FINGERPRINT_MSGS = frozenset((190, 201, 209, 211, 241))
 GM_CAMERA_BUS = 2
 GM_VOLT_CAMERA_MSG = 0x320
+GM_SUBURBAN_CAMERA_VIN_PREFIX = "1GNSKJKJ"
+GM_SUBURBAN_CAMERA_PT_SIGNATURE = {
+  190: 6,
+  201: 8,
+  209: 7,
+  211: 2,
+  241: 6,
+  304: 1,
+  320: 3,
+}
+GM_CAMERA_DIAGNOSTIC_MESSAGES = {
+  0x24b: 8,
+  0x64b: 8,
+}


 def _normalize_forced_candidate(candidate: str | None) -> str | None:
@@ -152,6 +166,24 @@ def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int,
  return candidate


+def _normalize_gm_suburban_camera_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None) -> str | None:
+  """Resolve the 2019 Suburban camera-harness variant when CAN is shared with Yukon."""
+  if candidate not in (None, "GMC_YUKON", "GMC_YUKON_CC"):
+    return candidate
+
+  if not isinstance(vin, str) or not vin.startswith(GM_SUBURBAN_CAMERA_VIN_PREFIX):
+    return candidate
+
+  powertrain = fingerprints.get(0, {})
+  camera = fingerprints.get(GM_CAMERA_BUS, {})
+  if not all(powertrain.get(address) == length for address, length in GM_SUBURBAN_CAMERA_PT_SIGNATURE.items()):
+    return candidate
+  if not all(camera.get(address) == length for address, length in GM_CAMERA_DIAGNOSTIC_MESSAGES.items()):
+    return candidate
+
+  return "CHEVROLET_SUBURBAN_CAMERA"
+
+
 def _is_gm_candidate(candidate: str | None) -> bool:
  return isinstance(candidate, str) and candidate.startswith(GM_CANDIDATE_PREFIXES)

@@ -307,6 +339,10 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
  stored_candidate = _normalize_forced_candidate(params.get("CarModel"))
  cached_candidate = _normalize_forced_candidate(getattr(cached_params, "carFingerprint", None))

+  if candidate is None and stored_candidate is None and cached_candidate is None:
+    candidate = _normalize_gm_suburban_camera_candidate(candidate, fingerprints, vin)
+    fingerprinted_candidate = candidate
+
  if candidate is None:
    gm_fallback_candidate = _get_gm_stored_candidate_fallback(fingerprints, stored_candidate, cached_candidate)
    if gm_fallback_candidate is not None:
@@ -4,7 +4,7 @@ from opendbc.can import CANPacker
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, structs
 from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CarControllerParams, FordFlags
+from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
 # This Ford extension boundary substantially adapts BluePilot bp-7.0 work. See the root CREDITS.md
 # (including Alan Polk's d0aac605f and db2bdff05) and THIRD_PARTY_NOTICES.md.
@@ -64,13 +64,29 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
  return apply_curvature


-def apply_creep_compensation(accel: float, v_ego: float) -> float:
+def apply_creep_compensation(accel: float, v_ego: float, car_fingerprint: str, *, standstill: bool, stopping: bool) -> float:
+  if car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not (standstill and stopping):
+    return accel
  creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
  creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
  accel -= creep_accel
  return float(accel)


+def apply_brake_rate_limit(accel: float, gas: float, accel_last: float, v_ego: float, car_fingerprint: str,
+                          *, stopping: bool, standstill: bool, fcw: bool) -> tuple[float, float]:
+  mild_mach_e_braking = (
+    car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and
+    -1.0 < gas < 0.0 and v_ego >= 5.0 and not (stopping or standstill or fcw)
+  )
+  if mild_mach_e_braking:
+    accel = max(accel, min(accel_last, 0.0) - 2.0 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL)
+    gas = accel
+  else:
+    accel = max(accel, accel_last - 3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL)
+  return float(accel), float(gas)
+
+
 class CarController(CarControllerBase):
  def __init__(self, dbc_names, CP):
    super().__init__(dbc_names, CP)
@@ -165,7 +181,7 @@ class CarController(CarControllerBase):
          can_sends.append(starpilot_fordcan.create_lat_ctl2_msg(
            self.packer, self.CAN, 1 if lateral.active else 0,
            lateral.ramp_type, lateral.precision_type,
-            -lateral.curvature, -lateral.curvature_rate, counter))
+            -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle))
        else:
          can_sends.append(starpilot_fordcan.create_lat_ctl_msg(
            self.packer, self.CAN, lateral.active,
@@ -181,16 +197,17 @@ class CarController(CarControllerBase):
    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
      accel = actuators.accel
      gas = accel
+      stopping = actuators.longControlState == LongCtrlState.stopping

      if CC.longActive:
-        # Compensate for engine creep at low speed.
-        # Either the ABS does not account for engine creep, or the correction is very slow
-        # TODO: verify this applies to EV/hybrid
-        accel = apply_creep_compensation(accel, CS.out.vEgo)
+        accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint,
+                                         standstill=CS.out.standstill, stopping=stopping)

-        # The stock system has been seen rate limiting the brake accel to 5 m/s^3,
-        # however even 3.5 m/s^3 causes some overshoot with a step response.
-        accel = max(accel, self.accel - (3.5 * CarControllerParams.ACC_CONTROL_STEP * DT_CTRL))
+        accel, gas = apply_brake_rate_limit(
+          accel, gas, self.accel, CS.out.vEgo, self.CP.carFingerprint,
+          stopping=stopping, standstill=CS.out.standstill,
+          fcw=fcw_alert or CS.out.stockFcw or CS.out.stockAeb,
+        )

      accel = float(np.clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
      gas = float(np.clip(gas, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
@@ -210,7 +227,6 @@ class CarController(CarControllerBase):
      elif accel_pitch_compensated < 0.0:
        self.brake_request = True

-      stopping = CC.actuators.longControlState == LongCtrlState.stopping
      # TODO: look into using the actuators packet to send the desired speed
      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))

@@ -29,6 +29,9 @@ class CarState(CarStateBase):

    self.distance_button = 0
    self.lc_button = 0
+    self.cancel_button = False
+    self.cancel_resume_pressed = False
+    self.cancel_resume_is_cancel = False
    self.lkas_available = False
    self.lateral_motion_control = None
    self.lateral_control_status = None
@@ -156,6 +159,14 @@ class CarState(CarStateBase):
    prev_lc_button = self.lc_button
    self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"]
    self.lc_button = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
+    prev_cancel_button = self.cancel_button
+    cancel_resume_pressed = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnCnclResPress"])
+    if cancel_resume_pressed and not self.cancel_resume_pressed:
+      self.cancel_resume_is_cancel = ret.cruiseState.available and ret.cruiseState.enabled
+    self.cancel_resume_pressed = cancel_resume_pressed
+    self.cancel_button = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnCnclPress"]) or (
+      cancel_resume_pressed and self.cancel_resume_is_cancel
+    )

    # lock info
    ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"],
@@ -183,10 +194,13 @@ class CarState(CarStateBase):
      except KeyError:
        self.lateral_motion_control = None

-    ret.buttonEvents = [
+    button_events = [
      *create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise}),
      *create_button_events(self.lc_button, prev_lc_button, {1: ButtonType.lkas}),
    ]
+    if self.CP.openpilotLongitudinalControl:
+      button_events += create_button_events(self.cancel_button, prev_cancel_button, {1: ButtonType.cancel})
+    ret.buttonEvents = button_events

    fp_ret = custom.StarPilotCarState.new_message()
    fp_ret.brakeLights = ret.brakePressed
@@ -8,7 +8,7 @@ from opendbc.car.ford.carcontroller import CarController
 from opendbc.car.ford.carstate import CarState
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.radar_interface import RadarInterface
-from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
+from opendbc.car.ford.values import CAR, CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase

 TransmissionType = structs.CarParams.TransmissionType
@@ -40,6 +40,8 @@ class CarInterface(CarInterfaceBase):
    ret.longitudinalTuning.kiBP = [0.]
    ret.longitudinalTuning.kiV = [0.5]
    ret.longitudinalTuning.kpV = [0.]
+    if candidate == CAR.FORD_MUSTANG_MACH_E_MK1:
+      ret.longitudinalTuning.kiV = [0.3]

    if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR:
      # average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
@@ -63,6 +65,8 @@ class CarInterface(CarInterfaceBase):

    if ret.flags & FordFlags.CANFD:
      ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
+      if candidate == CAR.FORD_MUSTANG_MACH_E_MK1:
+        ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.MACH_E_CURVATURE.value

      # TRON (SecOC) platforms are not supported
      # LateralMotionControl2, ACCDATA are 16 bytes on these platforms
@@ -6,15 +6,16 @@ from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
 import pytest

-from opendbc.car import Bus, gen_empty_fingerprint
-from opendbc.can import CANPacker
+from opendbc.car import Bus, gen_empty_fingerprint, structs
+from opendbc.can import CANPacker, CANParser
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.carcontroller import FordStockCruiseButton
+from opendbc.car.ford.carcontroller import CarController, FordStockCruiseButton, apply_brake_rate_limit, apply_creep_compensation
+from opendbc.car.ford.carstate import CarState
 from opendbc.car.gps import FORD_MACH_E_GPS_MESSAGES, get_car_gps_config, parse_ford_can_gps
-from opendbc.car.structs import CarParams
+from opendbc.car.structs import CarParams, CarState as CarStateStruct
 from opendbc.car.fw_versions import build_fw_dict
 from opendbc.car.ford.interface import CarInterface
-from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
+from opendbc.car.ford.values import CAR, DBC, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
 from opendbc.car.ford.fingerprints import FW_VERSIONS

 Ecu = CarParams.Ecu
@@ -38,6 +39,135 @@ def test_stock_cruise_button_ignores_press_with_cruise_master_off():
  assert button.update(True, cruise_available=False, cruise_enabled=False) == (False, False)


+@pytest.mark.parametrize("op_long", (False, True))
+@pytest.mark.parametrize("standstill", (False, True))
+@pytest.mark.parametrize("cruise_status", (4, 5))
+@pytest.mark.parametrize("switch", ("CcAslButtnCnclResPress", "CcAslButtnCnclPress"))
+def test_ford_cancel_event_does_not_require_pcm_disengagement(op_long, standstill, cruise_status, switch):
+  CP = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], op_long, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+  for frame, (pressed, status) in enumerate(((True, cruise_status), (True, 3), (False, 3)), start=1):
+    messages = [
+      packer.make_can_msg("Steering_Data_FD1", fordcan.CanBus(CP).main, {switch: int(pressed)}),
+      packer.make_can_msg("EngBrakeData", fordcan.CanBus(CP).main, {"CcStat_D_Actl": status}),
+      packer.make_can_msg("DesiredTorqBrk", fordcan.CanBus(CP).main, {"VehStop_D_Stat": int(standstill)}),
+    ]
+    parsers[Bus.pt].update([(frame * 100_000_000, messages)])
+    ret, _ = state.update(parsers, None)
+    assert ret.standstill == standstill
+    expected = [(CarStateStruct.ButtonEvent.Type.cancel, pressed)] if op_long and frame != 2 else []
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == expected
+
+
+@pytest.mark.parametrize("initial_status", (0, 3))
+def test_ford_resume_does_not_become_cancel_when_pcm_engages(initial_status):
+  CP = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+  for frame, (pressed, status) in enumerate(((True, initial_status), (True, 4), (False, 4)), start=1):
+    messages = [
+      packer.make_can_msg("Steering_Data_FD1", fordcan.CanBus(CP).main, {"CcAslButtnCnclResPress": int(pressed)}),
+      packer.make_can_msg("EngBrakeData", fordcan.CanBus(CP).main, {"CcStat_D_Actl": status}),
+    ]
+    parsers[Bus.pt].update([(frame * 100_000_000, messages)])
+    ret, _ = state.update(parsers, None)
+    assert not ret.buttonEvents
+
+
+def test_mach_e_does_not_apply_engine_creep_compensation():
+  for accel in (-1.0, -0.1, 0.0, 0.1):
+    assert apply_creep_compensation(accel, 0.5, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                     standstill=False, stopping=False) == accel
+
+  assert apply_creep_compensation(0.0, 0.0, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                   standstill=True, stopping=True) == -0.6
+  assert apply_creep_compensation(0.0, 0.5, CAR.FORD_F_150_MK14,
+                                   standstill=False, stopping=False) == -0.6
+
+
+@pytest.mark.parametrize("last", (0.0, 0.35, 0.8))
+def test_mach_e_mild_brake_transition_shapes_regen_and_brake_together(last):
+  accel, gas = apply_brake_rate_limit(-0.5, -0.5, last, 11.0, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                     stopping=False, standstill=False, fcw=False)
+  assert accel == pytest.approx(-0.04)
+  assert gas == accel
+
+
+@pytest.mark.parametrize("accel,last", ((-0.2, -0.5), (-0.5, -0.48), (-0.8, -0.4)))
+def test_mach_e_mild_brake_ramp_does_not_delay_release(accel, last):
+  brake, gas = apply_brake_rate_limit(accel, accel, last, 11.0, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                     stopping=False, standstill=False, fcw=False)
+  assert brake == pytest.approx(max(accel, last - 0.04))
+  assert gas == brake
+
+
+@pytest.mark.parametrize("accel,speed,stopping,standstill,fcw", (
+  (-3.5, 11.0, False, False, False),
+  (-1.0, 11.0, False, False, False),
+  (-0.5, 4.9, False, False, False),
+  (-0.5, 11.0, True, False, False),
+  (-0.5, 11.0, False, True, False),
+  (-0.5, 11.0, False, False, True),
+  (0.2, 11.0, False, False, False),
+))
+def test_mach_e_strong_braking_stops_and_warnings_keep_original_ramp(accel, speed, stopping, standstill, fcw):
+  brake, gas = apply_brake_rate_limit(accel, accel, 0.0, speed, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                     stopping=stopping, standstill=standstill, fcw=fcw)
+  assert brake == pytest.approx(max(accel, -0.07))
+  assert gas == accel
+
+
+@pytest.mark.parametrize("fingerprint", [car for car in CAR if car != CAR.FORD_MUSTANG_MACH_E_MK1])
+def test_other_fords_keep_original_brake_requests_and_integral_gain(fingerprint):
+  brake, gas = apply_brake_rate_limit(-0.5, -0.5, 0.35, 11.0, fingerprint,
+                                     stopping=False, standstill=False, fcw=False)
+  assert brake == pytest.approx(0.28)
+  assert gas == -0.5
+  CP = CarInterface.get_params(fingerprint, gen_empty_fingerprint(), [], True, False, False, None)
+  assert list(CP.longitudinalTuning.kiV) == [0.5]
+
+
+def test_mach_e_integral_gain_preserves_delay_and_braking_authority():
+  CP = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+  assert list(CP.longitudinalTuning.kiV) == pytest.approx([0.3])
+  assert CP.longitudinalActuatorDelay == pytest.approx(0.15)
+  assert CarInterface.get_pid_accel_limits(CP, 11.0, 20.0)[0] == -3.5
+
+
+def test_mach_e_can_brake_handoff_and_driver_override(monkeypatch):
+  monkeypatch.setattr("opendbc.car.ford.carcontroller.FordLateralController",
+                      lambda _: SimpleNamespace(update_inputs=lambda: None))
+  monkeypatch.setattr(fordcan, "create_acc_ui_msg", lambda *args: (0, b"", 0))
+  monkeypatch.setattr(fordcan, "create_lkas_ui_msg", lambda *args: (0, b"", 0))
+  CP = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ACCDATA", 50)], 0)
+  CC = structs.CarControl.new_message()
+  CC.enabled = True
+  CC.actuators.longControlState = structs.CarControl.Actuators.LongControlState.pid
+  CS = SimpleNamespace(out=structs.CarState.new_message(), acc_tja_status_stock_values={"Tja_D_Stat": 0})
+  CS.out.vEgo = 11.0
+
+  for frame, active, request, expected in ((2, True, -0.5, -0.04), (4, False, 0.0, 0.0),
+                                         (8, True, -0.5, -0.04), (14, True, -3.5, -0.11)):
+    controller.frame = frame
+    CC.longActive = active
+    CC.actuators.accel = request
+    output, messages = controller.update(CC.as_reader(), CS, frame * 10_000_000, None)
+    parser.update([(frame * 10_000_000, [msg for msg in messages if msg[0] == 0x186])])
+    values = parser.vl["ACCDATA"]
+    assert output.accel == pytest.approx(expected)
+    assert values["AccBrkTot_A_Rq"] == pytest.approx(expected, abs=0.01)
+    assert values["AccPrpl_A_Rq"] == pytest.approx(expected if active and request > -1.0 else -5.0, abs=0.01)
+    assert values["Cmbb_B_Enbl"] == int(active)
+    assert values["AccResumEnbl_B_Rq"] == int(active)
+
+
 ECU_ADDRESSES = {
  Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
  Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)
@@ -192,10 +322,12 @@ def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
  assert not stock.openpilotLongitudinalControl
  assert stock.pcmCruise
  assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
+  assert stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE

  assert enhanced.alphaLongitudinalAvailable
  assert enhanced.openpilotLongitudinalControl
  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
+  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE


 def test_mach_e_can_gps_decode():
@@ -50,6 +50,7 @@ class FordSafetyFlags(IntFlag):
  LONG_CONTROL = 1
  CANFD = 2
  LKA_STEERING = 4
+  MACH_E_CURVATURE = 8


 class FordFlags(IntFlag):
@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, GM_AUTO_HOLD_CARS, SDGM_CAR, AccState, CanBus, CarControllerParams,
  CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -309,7 +309,7 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
    auto_hold_enabled and
    getattr(CP, "openpilotLongitudinalControl", False) and
    stock_hold_safety_ready and
-    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
+    CP.carFingerprint in GM_AUTO_HOLD_CARS
  )


@@ -852,7 +852,6 @@ class CarController(CarControllerBase):
      CAR.CHEVROLET_VOLT_CC,
      CAR.CHEVROLET_MALIBU_CC,
      CAR.CHEVROLET_MALIBU_HYBRID_CC,
-      CAR.BUICK_LACROSSE,
    }

    if (self.CP.enableGasInterceptorDEPRECATED and self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
@@ -1160,7 +1159,13 @@ class CarController(CarControllerBase):
          if should_send_cc_button_spam(self.CP, CC, CS):
            if self.CP.carFingerprint != CAR.CADILLAC_XT4_CC:
              # Using extend instead of append since the message is only sent intermittently
-              can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, starpilot_toggles))
+              longitudinal_adjustment_active = bool(getattr(
+                CS, "openpilot_longitudinal_adjustment_active", CC.hudControl.leadVisible,
+              ))
+              can_sends.extend(gmcan.create_gm_cc_spam_command(
+                self.packer_pt, self, CS, actuators, starpilot_toggles,
+                longitudinal_adjustment_active=longitudinal_adjustment_active,
+              ))
          else:
            if (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
                CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
@@ -1192,7 +1197,7 @@ class CarController(CarControllerBase):
          # cannot linger after a disengage or main-off event.
          if should_send_bolt_acc_pedal_friction:
            can_sends.append(gmcan.create_friction_brake_command(
-              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on,
+              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on and CC.longActive,
              near_stop, at_full_stop, self.CP))
        if self.CP.carFingerprint not in CC_ONLY_CAR:
          friction_brake_bus = get_friction_brake_bus(self.CP)
@@ -18,6 +18,7 @@ from opendbc.car.gm.values import (
  AccState,
  CanBus,
  CruiseButtons,
+  GM_AUTO_HOLD_CARS,
  GMFlags,
  SDGM_CAR,
  STEER_THRESHOLD,
@@ -32,6 +33,7 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
 VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
+ACC_STARTUP_FAULT_GRACE_PERIOD_S = 5.0

 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -67,6 +69,36 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
  return auto_hold_drive_time, one_pedal_drive_time


+def is_gm_auto_hold_active(car_fingerprint: str, auto_hold_engaged: bool, in_drive_for_hold: bool,
+                           cruise_available: bool, standstill: bool, gas_pressed: bool) -> bool:
+  return (
+    auto_hold_engaged and
+    car_fingerprint in GM_AUTO_HOLD_CARS and
+    in_drive_for_hold and
+    cruise_available and
+    standstill and
+    not gas_pressed
+  )
+
+
+def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
+                                          previous_system_power_mode: int, timer: float,
+                                          acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
+  if car_fingerprint != CAR.BUICK_LACROSSE:
+    return 0.0, False
+
+  if system_power_mode == 2 and previous_system_power_mode != 2:
+    timer = ACC_STARTUP_FAULT_GRACE_PERIOD_S
+  elif system_power_mode != 2:
+    timer = 0.0
+
+  if timer <= 0.0 or acc_state != AccState.FAULTED:
+    return 0.0, False
+
+  timer = max(timer - DT_CTRL, 0.0)
+  return timer, timer > 0.0 and not friction_brake_unavailable
+
+
 class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
@@ -105,6 +137,8 @@ class CarState(CarStateBase):
    self.lkas_previously_enabled = 0
    self.lkas_enabled = 0
    self.pcm_acc_status = AccState.OFF
+    self.system_power_mode = 0
+    self.startup_acc_fault_suppression_timer = 0.0
    self.stock_fcw_alert = 0
    self.car_gps_config = get_car_gps_config(CP)
    self.car_gps_supported = self.car_gps_config is not None
@@ -350,8 +384,18 @@ class CarState(CarStateBase):

    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
-                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
+    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
+    self.startup_acc_fault_suppression_timer, suppress_startup_acc_fault = update_startup_acc_fault_suppression(
+      self.CP.carFingerprint,
+      int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"]),
+      self.system_power_mode,
+      self.startup_acc_fault_suppression_timer,
+      acc_state,
+      friction_brake_unavailable,
+    )
+    self.system_power_mode = int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"])
+    ret.accFaulted = (acc_state == AccState.FAULTED and not suppress_startup_acc_fault) or friction_brake_unavailable

    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -400,6 +444,11 @@ class CarState(CarStateBase):
      self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
      ret.accFaulted = False

+    ret.brakeHoldActive = is_gm_auto_hold_active(
+      self.CP.carFingerprint, self.auto_hold_engaged, in_drive_for_hold,
+      ret.cruiseState.available, ret.standstill, ret.gasPressed,
+    )
+
    if self.CP.enableBsm and not sdgm_non_volt:
      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
@@ -212,6 +212,10 @@ FINGERPRINTS.update({
  CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
  CAR.CADILLAC_ESCALADE_ESV_2019_ASCM: [{**fp, SASCM_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019]],
  CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
+  CAR.CHEVROLET_SUBURBAN_ASCM: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
+  # The camera-harness Suburban shares the observed CAN map with the 2019 Yukon;
+  # VIN and camera-bus diagnostics disambiguate it during live fingerprinting.
+  CAR.CHEVROLET_SUBURBAN_CAMERA: FINGERPRINTS[CAR.GMC_YUKON],
  CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
  CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
  CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
@@ -31,6 +31,8 @@ BOLT_CC_DIRECTION_MEMORY_S = 1.5
 VOLT_CC_CARS = {
  CAR.CHEVROLET_VOLT_CC,
 }
+VOLT_CC_FREE_REQUEST_DEADBAND_MPH = 5.0
+VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH = 2.0


 def malibu_phase_map_for_button(button):
@@ -339,10 +341,35 @@ def stabilize_bolt_cc_button(controller, CP, requested_button):
  return requested_button


-def _create_volt_cc_spam_command(CS, actuators, ms_convert):
+def _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active):
  accel = float(actuators.accel)
  speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
  ego_speed = CS.out.vEgo * ms_convert
+  requested_setpoint = (CS.out.vEgo * 1.01 + 3 * accel) * ms_convert
+  deadband_mph = (
+    VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH if longitudinal_adjustment_active
+    else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
+  )
+  request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
+
+  target_setpoint = None
+  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
+  if 0.0 < v_cruise_kph < 255.0:
+    is_metric = ms_convert == CV.MS_TO_KPH
+    target_setpoint = int(round(v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH))
+
+  moving_toward_target = target_setpoint is not None and (
+    (accel > 0.0 and speed_setpoint < target_setpoint) or
+    (accel < 0.0 and speed_setpoint > target_setpoint)
+  )
+  if target_setpoint is not None and accel > 0.0 and speed_setpoint >= target_setpoint:
+    return CruiseButtons.INIT, float("inf")
+  if (target_setpoint is not None and accel < 0.0 and speed_setpoint <= target_setpoint and
+      not longitudinal_adjustment_active):
+    return CruiseButtons.INIT, float("inf")
+
+  if not moving_toward_target and abs(requested_setpoint - speed_setpoint) <= request_deadband:
+    return CruiseButtons.INIT, float("inf")

  if accel == 0.0:
    return CruiseButtons.INIT, float("inf")
@@ -361,7 +388,7 @@ def _create_volt_cc_spam_command(CS, actuators, ms_convert):
  return CruiseButtons.RES_ACCEL, rate


-def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles):
+def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, longitudinal_adjustment_active=False):
  accel = actuators.accel
  v_ego = CS.out.vEgo
  cruise_btn = CruiseButtons.INIT
@@ -376,7 +403,7 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
  comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint

  if CS.CP.carFingerprint in VOLT_CC_CARS:
-    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert)
+    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active)
  else:
    if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
      cruise_btn = CruiseButtons.CANCEL
@@ -15,6 +15,7 @@ from opendbc.car.gm.values import (
  CC_ONLY_CAR,
  CC_REGEN_PADDLE_CAR,
  EV_CAR,
+  GM_AUTO_HOLD_CARS,
  SDGM_CAR,
  CarControllerParams,
  CanBus,
@@ -305,7 +306,7 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value

    elif is_camera_acc:
-      ret.alphaLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptorDEPRECATED
+      ret.alphaLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ALT_ACCS) and not ret.enableGasInterceptorDEPRECATED
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.radarUnavailable = True
      ret.pcmCruise = not ret.enableGasInterceptorDEPRECATED
@@ -408,7 +409,7 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet

    ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
+    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking

    if candidate in (
@@ -440,7 +441,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
      CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
      if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 28 * CV.MPH_TO_MS

    elif candidate == CAR.CADILLAC_ESCALADE:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -521,7 +522,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
+    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_ASCM, CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.CHEVROLET_SUBURBAN_CC):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

@@ -710,18 +711,19 @@ class CarInterface(CarInterfaceBase):
    if remote_start_boots_comma:
      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value

-    volt_stock_friction_brake_safety = (
+    gm_stock_friction_brake_safety = (
      ret.openpilotLongitudinalControl and
-      (gm_auto_hold or volt_one_pedal_mode) and
-      candidate in {
-        CAR.CHEVROLET_VOLT,
-        CAR.CHEVROLET_VOLT_2019,
-        CAR.CHEVROLET_VOLT_ASCM,
-        CAR.CHEVROLET_VOLT_CAMERA,
-      }
+      (
+        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
+        (volt_one_pedal_mode and candidate in {
+          CAR.CHEVROLET_VOLT,
+          CAR.CHEVROLET_VOLT_2019,
+          CAR.CHEVROLET_VOLT_ASCM,
+          CAR.CHEVROLET_VOLT_CAMERA,
+        })
+      )
    )
-    if volt_stock_friction_brake_safety:
-      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
+    if gm_stock_friction_brake_safety:
      # marker on non-pedal paths. Auto hold and one-pedal can run while OP
      # longitudinal is configured but not currently active, so the bit must
      # be present regardless of the current long-control mode. Do not expose
@@ -431,6 +431,15 @@ def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_saf
    ),
    True,
  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.BUICK_LACROSSE,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.gateway,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
  assert not supports_volt_auto_hold(
    SimpleNamespace(
      carFingerprint=CAR.CHEVROLET_VOLT,
@@ -8,7 +8,13 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
+from opendbc.car.gm.carstate import (
+  CarState as GMCarState,
+  get_hard_cruise_buttons,
+  is_gm_auto_hold_active,
+  update_auto_hold_drive_timers,
+  update_startup_acc_fault_suppression,
+)
 from opendbc.car.gm.carcontroller import (
  VisualAlert,
  get_acc_dashboard_always_one,
@@ -22,7 +28,7 @@ import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gps import CHEVROLET_BOLT_GPS_CARS, CHEVROLET_BOLT_GPS_MESSAGES, get_car_gps_config, parse_chevrolet_bolt_can_gps
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import ALT_ACCS, ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params

@@ -204,7 +210,179 @@ class TestBoltGps:
    assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)


+class TestGMCarState:
+  @parameterized.expand([
+    (CAR.BUICK_LACROSSE, True, True, True, True, False, True),
+    (CAR.CHEVROLET_VOLT, True, True, True, True, False, True),
+    (CAR.CHEVROLET_BOLT_CC_2017, True, True, True, True, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, False, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, True, True, False),
+  ])
+  def test_auto_hold_alert_state_requires_supported_complete_stop(self, car_fingerprint, engaged, in_drive,
+                                                                    cruise_available, standstill, gas_pressed, expected):
+    assert is_gm_auto_hold_active(
+      car_fingerprint, engaged, in_drive, cruise_available, standstill, gas_pressed,
+    ) is expected
+
+  def test_lacrosse_startup_acc_fault_is_suppressed(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    assert suppressed
+    assert timer == pytest.approx(5.0 - DT_CTRL)
+
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 2, timer, 0, False,
+    )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_persistent_acc_fault_is_reported_after_startup(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    for _ in range(int(5.0 / DT_CTRL)):
+      timer, suppressed = update_startup_acc_fault_suppression(
+        CAR.BUICK_LACROSSE, 2, 2, timer, 3, False,
+      )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_brake_unavailable_fault_is_never_suppressed(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, True,
+    )
+
+    assert not suppressed
+
+  def test_startup_acc_fault_suppression_is_scoped_to_lacrosse(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_REGAL, 2, 0, 0.0, 3, False,
+    )
+
+    assert not suppressed
+
+
 class TestGMInterface:
+  def test_suburban_obd_and_ascm_integrations_remain_separate(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
+
+    assert CAR.CHEVROLET_SUBURBAN_ASCM in ASCM_INT
+    assert FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_ASCM] == FINGERPRINTS[CAR.CHEVROLET_SUBURBAN]
+
+    obd_params = interfaces[CAR.CHEVROLET_SUBURBAN].get_params(
+      CAR.CHEVROLET_SUBURBAN,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.CHEVROLET_SUBURBAN_ASCM].get_params(
+      CAR.CHEVROLET_SUBURBAN_ASCM,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert not obd_params.pcmCruise
+    assert obd_params.safetyConfigs[0].safetyParam == 0
+
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.flags & GMFlags.SASCM.value
+    assert not ascm_params.alphaLongitudinalAvailable
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.pcmCruise
+    assert ascm_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value | GMSafetyFlags.HW_ASCM_INT.value
+    assert ascm_params.lateralTuning.torque.latAccelFactor == pytest.approx(obd_params.lateralTuning.torque.latAccelFactor)
+    assert ascm_params.lateralTuning.torque.friction == pytest.approx(obd_params.lateralTuning.torque.friction)
+
+  def test_suburban_camera_harness_preserves_stock_acc(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
+    fingerprint[2] = fingerprint[0].copy()
+
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in CAMERA_ACC_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in ALT_ACCS
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in CC_ONLY_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in ASCM_INT
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+
+    camera_params = interfaces[CAR.CHEVROLET_SUBURBAN_CAMERA].get_params(
+      CAR.CHEVROLET_SUBURBAN_CAMERA,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert camera_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert camera_params.pcmCruise
+    assert not camera_params.alphaLongitudinalAvailable
+    assert not camera_params.openpilotLongitudinalControl
+    assert camera_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value
+
+  def test_suburban_cc_remains_no_acc_gateway_profile(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC][0].copy()
+
+    cc_params = interfaces[CAR.CHEVROLET_SUBURBAN_CC].get_params(
+      CAR.CHEVROLET_SUBURBAN_CC,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert cc_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert cc_params.openpilotLongitudinalControl
+    assert not cc_params.pcmCruise
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
+
+  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
+    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+      CAR.BUICK_LACROSSE,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
+      CAR.BUICK_LACROSSE_ASCM,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
+
  @parameterized.expand([
    CAR.CHEVROLET_BOLT_CC_2017,
    CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -291,6 +469,14 @@ class TestGMInterface:

    assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)

+  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
+    car_model = CAR.BUICK_LACROSSE_ASCM_19US
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
+
  @parameterized.expand([
    ("interceptor", True),
    ("ascm_int", False),
@@ -486,6 +672,43 @@ class TestGMInterface:
    assert car_params.openpilotLongitudinalControl
    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value

+  def test_buick_lacrosse_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", True)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
+  def test_buick_lacrosse_auto_hold_is_off_when_toggle_is_disabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", False)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
  def test_volt_auto_hold_does_not_set_stock_hold_safety_bit_with_op_long_disabled(self):
    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
    fingerprint = _empty_fingerprint()
@@ -784,7 +1007,7 @@ class TestGMCarController:

  def test_volt_cc_redneck_rate_limits_setpoint_changes_by_planner_acceleration(self):
    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
-    controller = SimpleNamespace(frame=int(0.5 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    controller = SimpleNamespace(frame=int(0.2 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
    cs = SimpleNamespace(
      CP=SimpleNamespace(
        carFingerprint=CAR.CHEVROLET_VOLT_CC,
@@ -800,17 +1023,224 @@ class TestGMCarController:
    )

    msgs = gmcan.create_gm_cc_spam_command(
-      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
+      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
    )

    assert msgs == []

-    controller.frame = int(0.7 / DT_CTRL)
+    controller.frame = int(0.3 / DT_CTRL)
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+
+  def test_volt_cc_redneck_does_not_raise_stock_setpoint_above_max(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
    msgs = gmcan.create_gm_cc_spam_command(
      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
    )

+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_tracks_max_inside_request_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=52.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=52.0 * CV.KPH_TO_MS),
+        vCruise=60.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.1), SimpleNamespace(is_metric=True),
+    )
+
    assert len(msgs) == 1
+    assert controller.apply_speed == 53
+
+  def test_volt_cc_redneck_tracks_max_down_inside_request_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=68.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=68.0 * CV.KPH_TO_MS),
+        vCruise=60.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 67
+
+  def test_volt_cc_redneck_holds_small_decel_request_at_max(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_holds_strong_decel_request_at_max_during_free_cruise(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-1.2), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_brakes_for_active_lead_inside_free_road_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 99
+
+  def test_volt_cc_redneck_accelerates_when_pseudo_speed_request_exceeds_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.1 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=44.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=44.0 * CV.KPH_TO_MS),
+        vCruise=50.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+
+    controller.frame = int(0.3 / DT_CTRL)
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 45
+
+  def test_volt_cc_redneck_brakes_when_pseudo_speed_request_exceeds_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=50.7 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=49.0 * CV.KPH_TO_MS),
+        vCruise=49.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 48

  def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
@@ -357,6 +357,14 @@ class CAR(Platforms):
    [GMCarDocs("Chevrolet Suburban Premier 2016-20")],
    CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
  )
+  CHEVROLET_SUBURBAN_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Suburban Premier ASCM Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    CHEVROLET_SUBURBAN.specs,
+  )
+  CHEVROLET_SUBURBAN_CAMERA = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Suburban Premier Camera Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    CHEVROLET_SUBURBAN.specs,
+  )
  GMC_YUKON_CC = GMPlatformConfig(
    [GMCarDocs("GMC Yukon No-ACC 2019-20")],
    CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
@@ -533,12 +541,21 @@ EV_CAR = {
  CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }

+GM_AUTO_HOLD_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.BUICK_LACROSSE,
+}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {
  CAR.CHEVROLET_BOLT_ACC_2022_2023,
  CAR.CHEVROLET_SILVERADO,
  CAR.CHEVROLET_EQUINOX,
  CAR.CHEVROLET_TRAILBLAZER,
+  CAR.CHEVROLET_SUBURBAN_CAMERA,
  CAR.CHEVROLET_VOLT_CAMERA,
  CAR.CHEVROLET_BLAZER,
  CAR.CHEVROLET_TRAX,
@@ -546,7 +563,7 @@ CAMERA_ACC_CAR = {
 }

 # Alt ASCMActiveCruiseControlStatus
-ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
+ALT_ACCS = {CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.GMC_YUKON, CAR.GMC_YUKON_CC}

 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
@@ -585,9 +602,10 @@ CC_REGEN_PADDLE_CAR = {
 }
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)

-# ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
+# ASCM-intercept variants preserve stock ACC. SASCM (0x2FF) enables alpha-long where supported.
 ASCM_INT = {
  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_SUBURBAN_ASCM,
  CAR.GMC_ACADIA_ASCM,
  CAR.CHEVROLET_MALIBU_ASCM,
  CAR.CADILLAC_ESCALADE_ASCM,
@@ -8,6 +8,7 @@ from typing import Any
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.values import CAR as FORD_CAR
 from opendbc.car.gm.values import CAR as GM_CAR
+from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN_CAR


 CarGpsSample = dict[str, Any]
@@ -124,12 +125,66 @@ def parse_chevrolet_bolt_can_gps(position: Mapping[str, float]) -> CarGpsSample
  }


+def parse_volkswagen_taos_can_gps(position: Mapping[str, float], motion: Mapping[str, float],
+                                altitude: Mapping[str, float], status: Mapping[str, float]) -> CarGpsSample | None:
+  packet_ids = (position["GNSS_Nachrichtenpaket_ID1"], motion["GNSS_Nachrichtenpaket_ID2"],
+                altitude["GNSS_Nachrichtenpaket_ID4"], status["GNSS_Nachrichtenpaket_ID5"])
+  if len(set(packet_ids)) != 1:
+    return None
+
+  timestamp_ms = int(status["GNSS_UTC_Zeit"]) * 1000
+  if timestamp_ms == 0:
+    return None
+
+  latitude = float(position["GNSS_LatitudeMagnitude"])
+  longitude = float(position["GNSS_LongitudeMagnitude"])
+  coordinates_valid = (math.isfinite(latitude) and math.isfinite(longitude) and
+                       0.0 <= latitude <= 90.0 and 0.0 <= longitude <= 180.0 and (latitude != 0.0 or longitude != 0.0))
+  if coordinates_valid:
+    latitude *= -1.0 if position["GNSS_LatitudeSouth"] else 1.0
+    longitude *= -1.0 if position["GNSS_LongitudeWest"] else 1.0
+  else:
+    latitude = longitude = 0.0
+
+  satellite_count = int(status["GNSS_Genutzte_Satelliten"])
+  hemisphere_validated = position["GNSS_LatitudeSouth"] == 0 and position["GNSS_LongitudeWest"] == 1
+  has_fix = (coordinates_valid and hemisphere_validated and position["GNSS_PositionStatus"] == 3 and status["GNSS_Empfaenger_Status"] == 1 and
+             bool(status["GNSS_GPS_in_Nutzung"] or status["GNSS_GLONASS_in_Nutzung"]) and 4 <= satellite_count <= 31)
+
+  speed = float(motion["GNSS_Speed"])
+  bearing = float(motion["GNSS_Bearing"])
+  speed_valid = math.isfinite(speed) and 0.0 <= speed <= 127.5
+  bearing_valid = math.isfinite(bearing) and 0.0 <= bearing < 360.0
+  speed = speed if has_fix and speed_valid else 0.0
+  bearing = bearing if has_fix and bearing_valid else 0.0
+  height = float(altitude["GNSS_Ortung_Hoehe"])
+  height_valid = math.isfinite(height) and -500.0 <= height <= 7686.0
+  heading_rad = math.radians(bearing)
+
+  return {
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": height if has_fix and height_valid else 0.0,
+    "speed": speed,
+    "bearingDeg": bearing,
+    "horizontalAccuracy": 20.0,
+    "unixTimestampMillis": timestamp_ms,
+    "verticalAccuracy": 50.0 if height_valid else 500.0,
+    "bearingAccuracyDeg": 10.0 if has_fix and bearing_valid and speed > 1.0 else 180.0,
+    "speedAccuracy": 1.5 if speed_valid and bearing_valid else 100.0,
+    "hasFix": has_fix,
+    "satelliteCount": satellite_count if 0 <= satellite_count <= 31 else 0,
+    "vNED": [speed * math.cos(heading_rad), speed * math.sin(heading_rad), 0.0] if bearing_valid else [0.0, 0.0, 0.0],
+  }
+
+
 FORD_MACH_E_GPS_MESSAGES = (
  "APIMGPS_Data_Nav_1_FD1",
  "APIMGPS_Data_Nav_2_FD1",
  "APIMGPS_Data_Nav_3_FD1",
 )
 CHEVROLET_BOLT_GPS_MESSAGES = ("TCICOnStarGPSPosition",)
+VOLKSWAGEN_TAOS_GPS_MESSAGES = ("GNSS_01", "GNSS_02", "GNSS_04", "GNSS_05")

 CHEVROLET_BOLT_GPS_CARS = (
  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
@@ -141,6 +196,11 @@ CHEVROLET_BOLT_GPS_CARS = (


 CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
+  VOLKSWAGEN_CAR.VOLKSWAGEN_TAOS_MK1: CarGpsConfig(
+    brand="volkswagen",
+    messages=VOLKSWAGEN_TAOS_GPS_MESSAGES,
+    decoder=parse_volkswagen_taos_can_gps,
+  ),
  FORD_CAR.FORD_MUSTANG_MACH_E_MK1: CarGpsConfig(
    brand="ford",
    messages=FORD_MACH_E_GPS_MESSAGES,
@@ -23,6 +23,20 @@ from openpilot.common.params import Params
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState

+BOSCH_BRAKE_FORCE_ON = -0.12
+BOSCH_BRAKE_FORCE_RELEASE = -0.02
+
+
+def update_honda_bosch_braking(braking: bool, gas_pedal_force: float, stopping: bool, long_active: bool) -> bool:
+  """Select Bosch brake mode from the same road-load-adjusted force used for gas."""
+  if not long_active:
+    return False
+  if stopping:
+    return True
+  if braking:
+    return gas_pedal_force <= BOSCH_BRAKE_FORCE_RELEASE
+  return gas_pedal_force < BOSCH_BRAKE_FORCE_ON
+

 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
  torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
@@ -238,6 +252,7 @@ class CarController(CarControllerBase):
    self.steering_pressed_filter_s = 0.0
    self.steering_pressed_robust_prev = False
    self.bosch_last_gas = 0.0
+    self.bosch_braking = False
    self.bosch_gas_factor = self.param_store.get_float("HondaGasFactorParams", default=1.0)
    self.bosch_wind_factor = self.param_store.get_float("HondaWindFactorParams", default=1.0)
    self.bosch_wind_factor_before_brake = self.bosch_wind_factor
@@ -472,12 +487,16 @@ class CarController(CarControllerBase):
          self.bosch_last_gas = self.gas

          stopping = actuators.longControlState == LongCtrlState.stopping
+          bosch_braking = None
+          if not self.mvl_accord_mode:
+            self.bosch_braking = update_honda_bosch_braking(self.bosch_braking, gas_pedal_force, stopping, CC.longActive)
+            bosch_braking = self.bosch_braking
          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
          if not self.mvl_accord_mode or mvl_radar_owned:
            can_sends.extend(
              hondacan.create_acc_commands(
                self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP,
-                gas_force=gas_pedal_force if self.mvl_accord_mode else None,
+                gas_force=gas_pedal_force, braking=bosch_braking,
              )
            )
        else:
@@ -1065,21 +1065,27 @@ FW_VERSIONS = {
  CAR.HONDA_CITY_7G: {
    (Ecu.eps, 0x18da30f1, None): [
      b'39990-T14-B030\x00\x00',
+      b'39990-T14-B510\x00\x00',
    ],
    (Ecu.gateway, 0x18daeff1, None): [
      b'38897-T14-M110\x00\x00',
+      b'38897-T14-M210\x00\x00',
    ],
    (Ecu.srs, 0x18da53f1, None): [
      b'77959-T00-B830\x00\x00',
+      b'77959-T14-B810\x00\x00',
    ],
    (Ecu.fwdRadar, 0x18dab0f1, None): [
      b'36161-T14-P050\x00\x00',
+      b'8S102-T14-P020\x00\x00',
    ],
    (Ecu.vsa, 0x18da28f1, None): [
      b'57114-T14-B030\x00\x00',
+      b'57114-T14-M510\x00\x00',
    ],
    (Ecu.transmission, 0x18da1ef1, None): [
      b'28101-63B-M420\x00\x00',
+      b'28101-63B-M510\x00\x00',
    ],
  },
  CAR.HONDA_PASSPORT_4G: {
@@ -71,16 +71,18 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
  return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)


-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None, braking=None):
  commands = []
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]

  control_on = 5 if enabled else 0
  if gas_force is None:
    gas_force = accel
-  gas_command = gas if active and gas_force > min_gas_accel else -30000
+  if braking is None:
+    braking = gas_force < min_gas_accel
+  braking = int(active and braking)
+  gas_command = gas if active and gas_force > min_gas_accel and not braking else -30000
  accel_command = accel if active else 0
-  braking = 1 if active and gas_force < min_gas_accel else 0
  standstill = 1 if active and stopping_counter > 0 else 0
  standstill_release = 1 if active and stopping_counter == 0 else 0

@@ -7,13 +7,16 @@ from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.carcontroller import (
+  BOSCH_BRAKE_FORCE_ON,
+  BOSCH_BRAKE_FORCE_RELEASE,
  CarController,
  get_civic_bosch_modified_steering_pressed,
  get_civic_bosch_modified_torque_lpf_tau,
  get_honda_bosch_wind_brake_mps2,
+  update_honda_bosch_braking,
  update_honda_bosch_live_learning,
 )
-from opendbc.car.honda.hondacan import create_lkas_hud
+from opendbc.car.honda.hondacan import create_acc_commands, create_lkas_hud
 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import CAR, DBC, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, CarControllerParams, HondaFlags, HondaSafetyFlags, \
                                     HondaStarPilotFlags
@@ -26,6 +29,67 @@ def get_test_toggles() -> SimpleNamespace:


 class TestHondaFingerprint:
+  @staticmethod
+  def _acc_control_values(active, accel, gas=500, gas_force=0.5, braking=False):
+    class FakePacker:
+      @staticmethod
+      def make_can_msg(name, bus, values):
+        return name, bus, values
+
+    can = SimpleNamespace(pt=1)
+    cp = SimpleNamespace(carFingerprint=CAR.HONDA_CRV_5G)
+    commands = create_acc_commands(FakePacker(), can, True, active, accel, gas, 0, cp, gas_force, braking)
+    assert commands[-1][0] == "ACC_CONTROL"
+    return commands[-1][2]
+
+  def test_bosch_acc_commands_reject_fault_route_gas_brake_conflict(self):
+    braking = update_honda_bosch_braking(False, 0.2, False, True)
+    values = self._acc_control_values(True, -0.27, gas=160, gas_force=0.2, braking=braking)
+
+    assert values["GAS_COMMAND"] == 160
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  @pytest.mark.parametrize("active", [False, True])
+  @pytest.mark.parametrize("accel", [-3.5, -0.27, -0.2, -0.1, 0.0, 0.01, 2.0])
+  @pytest.mark.parametrize("gas_force", [-0.5, 0.0, 0.5])
+  @pytest.mark.parametrize("braking", [False, True])
+  def test_bosch_acc_commands_never_request_gas_and_braking_together(self, active, accel, gas_force, braking):
+    values = self._acc_control_values(active, accel, gas_force=gas_force, braking=braking)
+
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_REQUEST"] == 1)
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_LIGHTS"] == 1)
+    if values["GAS_COMMAND"] > 0:
+      assert active
+
+  def test_bosch_acc_commands_preserve_road_load_gas_above_brake_threshold(self):
+    values = self._acc_control_values(True, -0.27, gas=500, gas_force=0.3)
+
+    assert values["GAS_COMMAND"] == 500
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  def test_bosch_acc_commands_do_not_send_gas_without_positive_force(self):
+    values = self._acc_control_values(True, 0.2, gas=500, gas_force=-0.4)
+
+    assert values["GAS_COMMAND"] == -30000
+
+  def test_bosch_braking_uses_force_hysteresis(self):
+    braking = update_honda_bosch_braking(False, BOSCH_BRAKE_FORCE_ON - 0.01, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, -0.05, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, BOSCH_BRAKE_FORCE_RELEASE + 0.01, False, True)
+    assert not braking
+
+  def test_bosch_braking_preserves_stopping_and_resets_inactive(self):
+    assert update_honda_bosch_braking(False, 0.5, True, True)
+    assert not update_honda_bosch_braking(True, -1.0, False, False)
+
  def test_honda_lkas_hud_shows_lane_lines_when_lateral_only_is_active(self):
    class FakePacker:
      @staticmethod
@@ -277,7 +277,7 @@ class CAR(Platforms):
    flags=HondaFlags.BOSCH_RADARLESS,
  )
  HONDA_CITY_7G = HondaBoschPlatformConfig(
-    [HondaCarDocs("Honda City (Brazil only) 2023", "All")],
+    [HondaCarDocs("Honda City (Brazil only) 2023-25", "All")],
    CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.6, steerRatio=19.0, centerToFrontRatio=0.41, minSteerSpeed=23. * CV.KPH_TO_MS),
    {Bus.pt: 'honda_bosch_radarless_generated'},
    flags=HondaFlags.BOSCH_RADARLESS,
@@ -4,18 +4,20 @@ from dataclasses import dataclass
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
+from opendbc.car import Bus, DT_CTRL, create_gas_interceptor_command, make_tester_present_msg, rate_limit, structs
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance, get_max_angle_delta_vm, get_max_angle_vm
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
+from opendbc.car.hyundai.lead_data import CanLeadDataState
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+                                        CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                        KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits, shape_hyundai_canfd_scc_accel
 from openpilot.starpilot.common.testing_grounds import testing_ground

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -40,6 +42,11 @@ IONIQ_6_RESPONSE_MULTIPLIER = 1.2
 IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
+RAY_PEDAL_COMMAND_CAP = 0.55
+RAY_PEDAL_RATE_UP = 0.02
+RAY_PEDAL_RATE_DOWN = 0.06
+RAY_PEDAL_OVERSPEED_CUTOFF = 0.5
+RAY_PEDAL_TAPER_BELOW_TARGET = 0.75
 GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
 GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
 GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -436,12 +443,6 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
  )


-def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
-  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
-    return 0
-  return apply_torque
-
-
 class CarController(CarControllerBase):
  def __init__(self, dbc_names, CP):
    super().__init__(dbc_names, CP)
@@ -473,6 +474,7 @@ class CarController(CarControllerBase):
    self._ioniq_6_lane_change_ui_frames = 0
    self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
    self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()
+    self._can_lead_data = CanLeadDataState()
    self._dash_lat_disengage_blink_frame = 0
    self._dash_lat_disengage_init = False
    self._dash_prev_lat_active = False
@@ -482,6 +484,9 @@ class CarController(CarControllerBase):
      CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
    )
    self._ray_lfa_packer = CANPacker("hyundai_kia_ray_lfa") if self._ray_lfa_8byte else None
+    self._ray_pedal = CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED
+    self._ray_pedal_packer = CANPacker("hyundai_kia_ray_pedal") if self._ray_pedal else None
+    self._ray_pedal_gas_last = 0.0

  def _update_dash_icon_state(self, CC):
    if CC.latActive:
@@ -502,7 +507,9 @@ class CarController(CarControllerBase):
    return lka_icon, lfa_icon

  def _get_canfd_scc_lead_state(self, CC, CS, now_nanos):
-    openpilot_lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or CC.hudControl.leadVisible)
+    openpilot_lead_visible = bool(
+      getattr(CS, "openpilot_lead_visible", False) or getattr(CC.hudControl, "leadVisible", False)
+    )
    openpilot_lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
    openpilot_lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -16.4, 34.7))
    stock_camera_lead_fresh = now_nanos - getattr(CS, "stock_camera_lead_ts", 0) <= CANFD_CAMERA_LEAD_STALE_NS
@@ -631,8 +638,6 @@ class CarController(CarControllerBase):
      if not CC.latActive:
        apply_torque = 0

-      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
-
      # Hold torque with induced temporary fault when cutting the actuation bit
      # FIXME: we don't use this with CAN FD?
      torque_fault = CC.latActive and not apply_steer_req
@@ -756,14 +761,23 @@ class CarController(CarControllerBase):
    can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
    blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
+    lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or getattr(hud_control, "leadVisible", False))
+    lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
+    lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -170.0, 239.5))
+    if lead_visible and lead_distance <= CANFD_LEAD_MIN_DISTANCE:
+      lead_distance = CANFD_FALLBACK_LEAD_DISTANCE
+      lead_rel_speed = 0.0
+    lead_data = self._can_lead_data.update(lead_distance, lead_rel_speed, lead_visible)

    # HUD messages
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
+    stinger_hud_enabled = CC.enabled or (self.CP.carFingerprint == CAR.KIA_STINGER_2022 and CC.latActive)
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(stinger_hud_enabled, self.car_fingerprint,
                                                                                      hud_control)

    if blended_hda2:
      can_sends.extend(hyundaicanfd.create_steering_messages(
        self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
+        lka_icon=lka_icon,
        longitudinal_active=longitudinal_active,
      ))
      if self.long_active_ecu:
@@ -774,6 +788,7 @@ class CarController(CarControllerBase):
          left_lane_warning, right_lane_warning, CS.msg_364,
          include_alerts=False,
          counter_mod=0xF,
+          fcw_opt_usm=2 if apply_steer_req or lka_icon == 3 else 1,
        ))
      if self.frame % 5 == 0:
        can_sends.append(hyundaicanfd.create_suppress_lfa(
@@ -797,9 +812,13 @@ class CarController(CarControllerBase):

    # Button messages
    if not self.long_active_ecu:
-      if self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
+      if self._ray_pedal and CC.enabled and CS.out.cruiseState.enabled:
+        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
+          self.last_button_frame = self.frame
+      elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-      elif CC.cruiseControl.resume:
+      elif CC.cruiseControl.resume and not self._ray_pedal:
        # send resume at a max freq of 10Hz
        if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
          # send 25 messages at a time to increases the likelihood of resume being accepted
@@ -807,7 +826,39 @@ class CarController(CarControllerBase):
          if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
            self.last_button_frame = self.frame
      else:
-        can_sends.extend(self._create_can_redneck_button_messages(CS))
+        if not self._ray_pedal:
+          can_sends.extend(self._create_can_redneck_button_messages(CS))
+
+    if self._ray_pedal and self.frame % 4 == 0:
+      pedal_ready = CS.ray_pedal_valid and CS.ray_pedal_state == 0
+      pedal_active = (CC.longActive and pedal_ready and not CC.cruiseControl.override and
+                      not CS.out.gasPressed and not CS.out.brakePressed)
+      if pedal_active:
+        set_speed = hud_control.setSpeed
+        if not np.isfinite(set_speed) or set_speed < 1.0:
+          self._ray_pedal_gas_last = 0.0
+        else:
+          speed_error = set_speed - CS.out.vEgo
+          if speed_error <= -RAY_PEDAL_OVERSPEED_CUTOFF:
+            self._ray_pedal_gas_last = 0.0
+          else:
+            pedal_offset = float(np.interp(CS.out.vEgo, [0., 2., 4., 8., 12., 20.],
+                                           [0.08, 0.13, 0.20, 0.32, 0.42, 0.48]))
+            pedal_gain = 2.0 if accel < 0.0 else 0.22
+            target = float(np.clip(pedal_offset + accel * pedal_gain, 0.0, RAY_PEDAL_COMMAND_CAP))
+            if speed_error < 0.0:
+              target *= float(np.clip(0.65 * (1.0 + speed_error / RAY_PEDAL_OVERSPEED_CUTOFF), 0.0, 1.0))
+            elif speed_error < RAY_PEDAL_TAPER_BELOW_TARGET:
+              target *= 0.65 + 0.35 * speed_error / RAY_PEDAL_TAPER_BELOW_TARGET
+            if target <= 0.001:
+              self._ray_pedal_gas_last = 0.0
+            else:
+              next_gas = rate_limit(target, self._ray_pedal_gas_last, -RAY_PEDAL_RATE_DOWN, RAY_PEDAL_RATE_UP)
+              self._ray_pedal_gas_last = min(next_gas, target)
+      else:
+        self._ray_pedal_gas_last = 0.0
+      can_sends.append(create_gas_interceptor_command(
+        self._ray_pedal_packer, self._ray_pedal_gas_last, (self.frame // 4) & 0xF))

    if self.long_active_ecu and can_canfd_blended:
      if blended_hda2:
@@ -835,7 +886,7 @@ class CarController(CarControllerBase):
        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                        hud_control, set_speed_in_units, stopping,
                                                        CC.cruiseControl.override, use_fca, self.CP,
-                                                        main_cruise_enabled))
+                                                        main_cruise_enabled, lead_data))

    # 20 Hz LFA MFA message
    if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
@@ -859,8 +910,13 @@ class CarController(CarControllerBase):
    can_sends = []

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_longitudinal_active = longitudinal_active if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else self.CP.openpilotLongitudinalControl
+    persistent_lfa_status_cars = (
+      CAR.HYUNDAI_IONIQ_6,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+      CAR.KIA_EV6,
+    )
+    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
    lka_steering_long = lka_steering and lfa_longitudinal_active
    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
@@ -887,7 +943,7 @@ class CarController(CarControllerBase):

    gear = getattr(getattr(CS, "out", None), "gearShifter", None)
    drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      steering_msg_active = bool(steering_msg_active and drive_gear)
    angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
@@ -917,7 +973,7 @@ class CarController(CarControllerBase):

    # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
    suppress_lfa = bool(lka_steering)
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
    if self.frame % 5 == 0 and suppress_lfa:
      can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -987,12 +1043,17 @@ class CarController(CarControllerBase):
            left_sound_active=left_warning.sound_active, right_sound_active=right_warning.sound_active,
          )
        else:
-          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)
+          host_speed = getattr(CS.out, "vEgoRaw", None) \
+            if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN else None
+          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
+                                                             car_fingerprint=self.CP.carFingerprint,
+                                                             drive_gear=drive_gear,
+                                                             v_ego=host_speed)
        can_sends.extend(adrv_messages)
        # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
        # and stops publishing object tracks when it disappears.
        radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                            CS.out.brakePressed, CS.out.gasPressed,
                                                                            self.CP.carFingerprint))
@@ -1016,10 +1077,23 @@ class CarController(CarControllerBase):
                                                                                 CC.leftBlinker,
                                                                                 CC.rightBlinker))
      if self.frame % 2 == 0:
+        lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
        if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          acc_kwargs = {}
+          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP, stopping, accel)
+          raw_accel = accel
+          accel = shape_hyundai_canfd_scc_accel(
+            self.CP, CC.enabled, CC.cruiseControl.override, stopping, accel, self.accel_last,
+          )
+          acc_kwargs = {
+            "direct_accel": True,
+            "raw_accel": raw_accel,
+            "jerk_upper": scc_jerk_limits[0],
+            "jerk_lower": scc_jerk_limits[1],
+            "lead_distance": lead_distance,
+            "lead_rel_speed": lead_rel_speed,
+            "lead_visible": lead_visible,
+          }
        else:
-          lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
          acc_kwargs = {
            "main_mode_acc": int(CS.out.cruiseState.available),
            "direct_accel": True,
@@ -26,6 +26,33 @@ ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
 BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
                Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}

+
+class Ev6AolArmingState:
+  def __init__(self, lkas_on_engage: bool):
+    self.lkas_on_engage = lkas_on_engage
+    self.main_on = False
+    self.lkas_on = False
+    self.prev_main_button = False
+    self.prev_lkas_button = False
+    self.prev_cruise_button = Buttons.NONE
+
+  def update(self, main_button: bool, lkas_button: bool, cruise_button: int):
+    if main_button and not self.prev_main_button:
+      self.main_on = not self.main_on
+    if lkas_button and not self.prev_lkas_button:
+      self.lkas_on = not self.lkas_on
+    if (self.lkas_on_engage and cruise_button != self.prev_cruise_button and
+        self.prev_cruise_button in (Buttons.SET_DECEL, Buttons.RES_ACCEL)):
+      self.lkas_on = True
+    self.prev_main_button = main_button
+    self.prev_lkas_button = lkas_button
+    self.prev_cruise_button = cruise_button
+
+  @property
+  def authorized(self) -> bool:
+    return self.main_on or self.lkas_on
+
+
 IONIQ_6_BLINDSPOT_RIGHT_MASK = 0x08
 IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
 CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
@@ -138,6 +165,16 @@ class CarState(CarStateBase):
    self.buttons_counter = 0
    self.main_cruise_on = False
    self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
+    self.ev6_aol_arming = None
+    if CP.carFingerprint == CAR.KIA_EV6 and CP.openpilotLongitudinalControl and not CP.pcmCruise:
+      lkas_on_engage = any(
+        config.safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
+        for config in (*CP.safetyConfigs, *FPCP.safetyConfigs)
+      )
+      self.ev6_aol_arming = Ev6AolArmingState(lkas_on_engage)
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      self.ray_pedal_state = 5
+      self.ray_pedal_valid = False

    self.cruise_info = {}
    self.msg_161 = {}
@@ -178,6 +215,10 @@ class CarState(CarStateBase):
    # Main button also can trigger an engagement on these cars
    return any(btn in ENABLE_BUTTONS for btn in self.cruise_buttons) or any(self.main_buttons)

+  @property
+  def ev6_aol_authorized(self) -> bool:
+    return self.ev6_aol_arming is not None and self.ev6_aol_arming.authorized
+
  def update_main_cruise(self, ret: structs.CarState,
                         button_events: list[structs.CarState.ButtonEvent] | None = None) -> bool:
    button_events = ret.buttonEvents if button_events is None else button_events
@@ -300,6 +341,7 @@ class CarState(CarStateBase):
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]
    cp_alt = can_parsers.get(Bus.alt)
+    cp_pedal = can_parsers.get(Bus.party)

    if self.CP.flags & HyundaiFlags.CANFD:
      return self.update_canfd(can_parsers)
@@ -393,6 +435,11 @@ class CarState(CarStateBase):
    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
    ret.accFaulted = False if no_scc else cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED:
+      self.ray_pedal_valid = bool(cp_pedal is not None and cp_pedal.can_valid and
+                                  cp_pedal.ts_nanos["GAS_SENSOR"]["STATE"] > 0)
+      self.ray_pedal_state = int(cp_pedal.vl["GAS_SENSOR"]["STATE"]) if cp_pedal is not None else 5
+      ret.accFaulted = not self.ray_pedal_valid or self.ray_pedal_state != 0

    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
      if self.CP.flags & HyundaiFlags.FCEV:
@@ -404,6 +451,12 @@ class CarState(CarStateBase):
    else:
      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])

+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED and self.ray_pedal_valid:
+      driver_pedal = cp_pedal.vl_raw["GAS_SENSOR"]
+      track1 = int.from_bytes(driver_pedal[:2], "big")
+      track2 = int.from_bytes(driver_pedal[2:4], "big")
+      ret.gasPressed = track1 > 272 or track2 > 513
+
    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
    # as this seems to be standard over all cars, but is not the preferred method.
    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -625,6 +678,13 @@ class CarState(CarStateBase):
                        *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
                        *create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas}),
                        *create_button_events(self.left_paddle, prev_left_paddle, {1: ButtonType.altButton2})]
+    if self.ev6_aol_arming is not None:
+      buttons = cp.vl_all[self.cruise_btns_msg_canfd]
+      for main, lkas, cruise in zip(buttons["ADAPTIVE_CRUISE_MAIN_BTN"], buttons["LDA_BTN"], buttons["CRUISE_BUTTONS"], strict=True):
+        self.ev6_aol_arming.update(bool(main), bool(lkas), int(cruise))
+      if not ret.cruiseState.available:
+        self.ev6_aol_arming.main_on = False
+
    if self.CP.openpilotLongitudinalControl and (self.CP.carFingerprint == CAR.KIA_EV9 or self.main_cruise_tracking):
      ret.cruiseState.available = self.update_main_cruise(ret)

@@ -748,4 +808,6 @@ class CarState(CarStateBase):
    }
    if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
      parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
+    if CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+      parsers[Bus.party] = CANParser("hyundai_kia_ray_pedal", [("GAS_SENSOR", 50)], 0)
    return parsers
@@ -185,6 +185,7 @@ FW_VERSIONS = {
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
+      b'\xf1\x00DN ESC \x01 107 \x07\x03 58910-L1300',
      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -208,6 +209,7 @@ FW_VERSIONS = {
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1210 4DNDC103',
      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
@@ -215,6 +217,7 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.06 99211-L1000 210325',
      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
@@ -1332,6 +1335,7 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
@@ -1553,6 +1557,7 @@ FW_VERSIONS = {
  },
  CAR.HYUNDAI_STARIA_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00US4 MFC  AT AUS RHD 1.00 1.04 99211-CG000 210819',
      b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
@@ -1,5 +1,6 @@
 import crcmod
 from opendbc.car.hyundai.hyundaicanfd import CanBus
+from opendbc.car.hyundai.lead_data import CanLeadData
 from opendbc.car.hyundai.values import CAR, HyundaiFlags

 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
@@ -51,7 +52,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    # FcwOpt_USM 2 = Green car + lanes
    # FcwOpt_USM 1 = White car + lanes
    # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
+    values["CF_Lkas_FcwOpt_USM"] = lka_icon

    # SysWarning 4 = keep hands on wheel
    # SysWarning 5 = keep hands on wheel (red)
@@ -128,13 +129,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                    torque_fault, lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
                                    left_lane_depart, right_lane_depart, msg_364,
-                                    include_alerts=True, counter_mod=0x10):
+                                    include_alerts=True, counter_mod=0x10, fcw_opt_usm=None):
  bus = CanBus(CP).ECAN
  values = {
    "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
    "CF_Lkas_LdwsLHWarning": left_lane_depart,
    "CF_Lkas_LdwsRHWarning": right_lane_depart,
-    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_FcwOpt_USM": (2 if enabled else 1) if fcw_opt_usm is None else fcw_opt_usm,
    "CR_Lkas_StrToqReq": apply_steer,
    "CF_Lkas_ActToi": steer_req,
    "CF_Lkas_ToiFlt": torque_fault,
@@ -317,19 +318,20 @@ def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_las


 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
-                        main_cruise_enabled=True):
+                        main_cruise_enabled=True, lead_data: CanLeadData | None = None):
  commands = []
+  lead_data = lead_data or CanLeadData()

  scc11_values = {
    "MainMode_ACC": int(bool(main_cruise_enabled)),
    "TauGapSet": hud_control.leadDistanceBars,
    "VSetDis": set_speed if enabled else 0,
    "AliveCounterACC": idx % 0x10,
-    "ObjValid": 1, # close lead makes controls tighter
-    "ACC_ObjStatus": 1, # close lead makes controls tighter
+    "ObjValid": int(lead_data.lead_visible),
+    "ACC_ObjStatus": int(lead_data.lead_visible),
    "ACC_ObjLatPos": 0,
-    "ACC_ObjRelSpd": 0,
-    "ACC_ObjDist": 1, # close lead makes controls tighter
+    "ACC_ObjRelSpd": lead_data.lead_rel_speed,
+    "ACC_ObjDist": int(lead_data.lead_distance),
    }
  commands.append(packer.make_can_msg("SCC11", 0, scc11_values))

@@ -357,7 +359,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ObjGap": lead_data.object_gap, # 5: >30 m, 4: 25-30 m, 3: 20-25 m, 2: <20 m, 0: no lead
+    "ObjDistStat": lead_data.object_rel_gap,
  }
  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))

@@ -8,6 +8,37 @@ from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR


+_adrv_0x51_templates: dict[CAR, bytes] = {}
+
+
+def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
+  if car_fingerprint not in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN):
+    return
+
+  if dat is None:
+    _adrv_0x51_templates.pop(car_fingerprint, None)
+  elif len(dat) == 32 and any(dat[3:]):
+    _adrv_0x51_templates[car_fingerprint] = bytes(dat)
+
+
+def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False,
+                     v_ego: float | None = None):
+  template = _adrv_0x51_templates.get(car_fingerprint)
+  if template is None:
+    return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
+
+  dat = bytearray(template)
+  dat[2] = (template[2] + frame + 1) & 0xFF
+  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
+  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and v_ego is not None and np.isfinite(v_ego):
+    speed_raw = int(np.clip(round(v_ego * 100.0), 0, 65534))
+    dat[8:10] = speed_raw.to_bytes(2, "little")
+  crc = hkg_can_fd_checksum(0x51, None, dat)
+  dat[0] = crc & 0xFF
+  dat[1] = (crc >> 8) & 0xFF
+  return CanData(0x51, bytes(dat), CAN.ACAN)
+
+
 def _set_value(msg: bytearray, sig, ival: int) -> None:
  i = sig.lsb // 8
  bits = sig.size
@@ -123,7 +154,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
  else:
    lkas_values = copy.copy(control_values)
    lkas_values["LKA_AVAILABLE"] = 0
-    if CP.carFingerprint in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN):
+    if CP.carFingerprint in (
+      CAR.KIA_CARNIVAL_4TH_GEN,
+      CAR.KIA_CARNIVAL_2025,
+      CAR.KIA_CARNIVAL_HEV_4TH_GEN,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+    ):
      lkas_values["DAMP_FACTOR"] = 100

  if lfa_base_values:
@@ -142,7 +178,21 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
    lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
    lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
    if angle_lkas_alt:
-      if lat_active:
+      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
+        lkas_values = {
+          "LKA_OptUsmSta": 0,
+          "LKA_SysIndReq": 2 if enabled else 1,
+          "StrTqReqVal": 0,
+          "LKA_SysWrn": 0,
+          "ActToiSta": 0,
+          "LKA_UsmMod": 0,
+          "LKA_RcgSta": 3 if lat_active else 0,
+          "Damping_Gain": 100,
+          "ADAS_StrAnglReqVal": apply_angle,
+          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
+        }
+      elif lat_active:
        lkas_values = {
          "LKA_OptUsmSta": 0,
          "LKA_RcgSta": 3,
@@ -685,13 +735,13 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):

 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                       main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None, raw_accel=None):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
    a_val, a_raw = 0, 0
  elif direct_accel:
-    a_raw = accel
+    a_raw = accel if raw_accel is None else raw_accel
    a_val = accel
  else:
    a_raw = accel
@@ -769,15 +819,14 @@ def create_fca_warning_light(packer, CAN, frame):
  return ret


-def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False,
+                         v_ego=None):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

  ret = []

-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
+  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear, v_ego))

  if blended_hda2:
    return ret
@@ -2,12 +2,13 @@ import time
 # Provenance: portions of HKG angle integration are adapted from sunnypilot/opendbc's
 # hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from opendbc.car import get_safety_config, structs, uds
+from opendbc.car.hyundai import hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                   CANFD_SECURITYACCESS_CAR, \
                                                   CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                   LEGACY_LONGITUDINAL_CAR, \
@@ -27,6 +28,15 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu

+
+def get_communication_control_request(car_fingerprint):
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
+    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
+                  uds.MESSAGE_TYPE.NORMAL])
+
+  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+                uds.MESSAGE_TYPE.NORMAL])
+
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)

@@ -34,6 +44,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 KIA_EV9_ACCEL_MAX = 2.2
+RAY_PEDAL_SENSOR_ADDR = 0x201


 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -190,6 +201,8 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
        ret.steerControlType = structs.CarParams.SteerControlType.angle
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
+        if candidate == CAR.KIA_SPORTAGE_HEV_2026:
+          ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA.value
      if candidate == CAR.HYUNDAI_IONIQ_6:
        # Keep lateral active through stops: zeroing torque at standstill dropped the
        # stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away
@@ -293,6 +306,18 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & HyundaiFlags.FCEV:
      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value

+    if (candidate == CAR.KIA_RAY_EV and fingerprint[0].get(RAY_PEDAL_SENSOR_ADDR) == 6 and
+        ret.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS and
+        ret.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON):
+      ret.enableGasInterceptorDEPRECATED = True
+      ret.alphaLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = True
+      ret.pcmCruise = False
+      ret.radarUnavailable = True
+      ret.autoResumeSng = False
+      ret.minEnableSpeed = -1.0
+      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
+
    # Car specific configuration overrides

    if candidate == CAR.GENESIS_G90:
@@ -308,8 +333,8 @@ class CarInterface(CarInterfaceBase):

    if candidate == CAR.HYUNDAI_ELANTRA_2021:
      ret.longitudinalActuatorDelay = 0.22
-      ret.stopAccel = -0.85
-      ret.stoppingDecelRate = 0.35
+      ret.stopAccel = -1.1
+      ret.stoppingDecelRate = 0.55

    if candidate == CAR.HYUNDAI_ELANTRA_HEV_2024:
      ret.longitudinalActuatorDelay = 0.22
@@ -353,14 +378,7 @@ class CarInterface(CarInterfaceBase):
    params = Params()

    if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
-        # Don't use 0x80 suppress bit so we can read the ECU response.
-        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
-        # while blocking SCC TX.
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      else:
-        # 0x80 silences response for other cars (original behavior)
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      communication_control = get_communication_control_request(CP.carFingerprint)

    ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")

@@ -376,11 +394,25 @@ class CarInterface(CarInterfaceBase):
        skip_disable_ecu = True

      if not skip_disable_ecu:
+        disable_can_recv = can_recv
+        if CP.carFingerprint in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) and can_recv is not None:
+          hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, None)
+          base_can_recv = can_recv
+          adrv_bus = CanBus(CP).ACAN
+
+          def disable_can_recv(*args, **kwargs):
+            packets = base_can_recv(*args, **kwargs)
+            for packet in packets or []:
+              for msg in packet:
+                if msg.src == adrv_bus and msg.address == 0x51:
+                  hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, msg.dat)
+            return packets
+
        # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
        # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
        # so panda forwards stock SCC messages normally (lateral-only mode).
        ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        ecu_disabled = disable_ecu(disable_can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
                                   reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))

        if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
@@ -0,0 +1,63 @@
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class CanLeadData:
+  object_gap: int = 0
+  lead_distance: float = 0.0
+  lead_rel_speed: float = 0.0
+  lead_visible: bool = False
+
+  @property
+  def object_rel_gap(self) -> int:
+    return 0 if self.lead_distance == 0 else 2 if self.lead_rel_speed < -0.2 else 1
+
+
+def _hysteresis_update(current, new_value, counter, threshold):
+  if new_value == current:
+    return current, 0
+
+  counter += 1
+  return (new_value, 0) if counter >= threshold else (current, counter)
+
+
+class CanLeadDataState:
+  LEAD_HYSTERESIS_FRAMES = 50
+
+  def __init__(self):
+    self._lead_on_counter = 0
+    self._lead_off_counter = 0
+    self._gap_counter = 0
+    self._lead_visible = False
+    self._object_gap = 0
+
+  @staticmethod
+  def _get_object_gap(lead_distance: float) -> int:
+    if lead_distance == 0:
+      return 0
+    if lead_distance < 20:
+      return 2
+    if lead_distance < 25:
+      return 3
+    if lead_distance < 30:
+      return 4
+    return 5
+
+  def update(self, lead_distance: float, lead_rel_speed: float, lead_visible: bool) -> CanLeadData:
+    counter = self._lead_on_counter if lead_visible else self._lead_off_counter
+    self._lead_visible, counter = _hysteresis_update(
+      self._lead_visible, lead_visible, counter, self.LEAD_HYSTERESIS_FRAMES,
+    )
+    if lead_visible:
+      self._lead_on_counter = counter
+      self._lead_off_counter = 0
+    else:
+      self._lead_off_counter = counter
+      self._lead_on_counter = 0
+
+    object_gap = self._get_object_gap(lead_distance)
+    self._object_gap, self._gap_counter = _hysteresis_update(
+      self._object_gap, object_gap, self._gap_counter, self.LEAD_HYSTERESIS_FRAMES,
+    )
+
+    return CanLeadData(self._object_gap, lead_distance, lead_rel_speed, self._lead_visible)
@@ -19,6 +19,9 @@ MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
 MRR35_RADAR_MSG_COUNT = 32
+GV70_RADAR_START_ADDR = 0x210
+GV70_RADAR_MSG_COUNT = 16
+GV70_RADAR_DBC = "hyundai_radar_210_21f_generated"


@dataclass(frozen=True)
@@ -30,6 +33,7 @@ class RadarTrackConfig:
  frequency: int = 50
  parser_msg_count: int | None = None
  expected_length: int | None = None
+  dbc_name: str | None = None

  @property
  def can_parser_msg_count(self) -> int:
@@ -47,6 +51,10 @@ RADAR_TRACK_CONFIGS = {


 def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
+  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
+    return RadarTrackConfig(GV70_RADAR_START_ADDR, GV70_RADAR_MSG_COUNT, "gv70_210", bus=0,
+                            frequency=20, expected_length=32, dbc_name=GV70_RADAR_DBC)
+
  radar_dbc = DBC[car_fingerprint].get(Bus.radar)
  if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
    return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
@@ -65,6 +73,10 @@ def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -
  if radar_config is None:
    return False

+  if radar_config.radar_type == "gv70_210":
+    return all(fingerprint[radar_config.bus].get(addr) == radar_config.expected_length
+               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count))
+
  msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
  if msg_len is None:
    return False
@@ -78,7 +90,8 @@ def get_radar_can_parser(CP, radar_config):

  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
              for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
-  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
+  dbc_name = radar_config.dbc_name or DBC[CP.carFingerprint][Bus.radar]
+  return CANParser(dbc_name, messages, radar_config.bus)


 class RadarInterface(RadarInterfaceBase):
@@ -223,6 +236,27 @@ class RadarInterface(RadarInterfaceBase):
            del self.pts[track_key]
        continue

+      if radar_type == "gv70_210":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          valid = msg[f"{i}_STATE"] in (3, 4)
+          if valid:
+            pt = self.pts.get(track_key)
+            if pt is None:
+              pt = structs.RadarData.RadarPoint()
+              pt.trackId = self.track_id
+              self.track_id += 1
+              self.pts[track_key] = pt
+            pt.measured = True
+            pt.dRel = msg[f"{i}_LONG_DIST"]
+            pt.yRel = msg[f"{i}_LAT_DIST"]
+            pt.vRel = msg[f"{i}_REL_SPEED"]
+            pt.aRel = msg[f"{i}_REL_ACCEL"]
+            pt.yvRel = msg[f"{i}_REL_LAT_SPEED"]
+          elif track_key in self.pts:
+            del self.pts[track_key]
+        continue
+
      if radar_type == "mrrevo14f":
        for i in ("1", "2"):
          track_key = addr * 2 + int(i) - 1
@@ -20,20 +20,21 @@ from opendbc.car.hyundai.carcontroller import CarController, CANCEL_BUTTON_DELAY
                                             should_track_stop_accel_directly_for_car, \
                                             preserve_stock_canfd_lfa_status, \
                                             preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel, \
-                                             clear_ioniq_6_torque_when_request_inactive
-from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
+                                             suppress_redundant_gv70_brake_cancel
+from opendbc.car.hyundai.carstate import CarState, Ev6AolArmingState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                             get_canfd_cruise_available
-from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
+from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX, get_communication_control_request
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
+from opendbc.car.hyundai.lead_data import CanLeadData, CanLeadDataState
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
-                                             RADAR_START_ADDR, get_radar_track_config
+                                             RADAR_START_ADDR, RadarInterface, get_radar_track_config, radar_tracks_available
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                         LEGACY_LONGITUDINAL_CAR, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, kia_ev6_gt_line_longitudinal_tuning
+                                         HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, Buttons, CarControllerParams, \
+                                         CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR, kia_ev6_gt_line_longitudinal_tuning

 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -129,6 +130,145 @@ def get_test_toggles() -> SimpleNamespace:


 class TestHyundaiFingerprint:
+  @pytest.mark.parametrize("candidate, alpha_long, needs_arming", (
+    (CAR.KIA_EV6, True, True), (CAR.KIA_EV6, False, False),
+    (CAR.KIA_EV6_2025, True, False), (CAR.KIA_EV9, True, False),
+    (CAR.HYUNDAI_IONIQ_5, True, False), (CAR.HYUNDAI_IONIQ_6, True, False),
+  ))
+  def test_ev6_aol_arming_is_vehicle_specific(self, candidate, alpha_long, needs_arming):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], alpha_long, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(candidate, gen_empty_fingerprint(), [], CP, toggles)
+    CS = CarState(CP, FPCP)
+    assert (CS.ev6_aol_arming is not None) == needs_arming
+    assert not CS.ev6_aol_authorized
+
+  @pytest.mark.parametrize("alt_buttons", (False, True))
+  @pytest.mark.parametrize("lkas_on_engage", (False, True))
+  def test_ev6_aol_uses_all_physical_button_samples(self, alt_buttons, lkas_on_engage):
+    toggles = get_test_toggles()
+    toggles.always_on_lateral_lkas = lkas_on_engage
+    fingerprint = gen_empty_fingerprint()
+    if not alt_buttons:
+      fingerprint[0][0x1CF] = 8
+    CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, [], True, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_EV6, fingerprint, [], CP, toggles)
+    CS = CarState(CP, FPCP)
+    parsers = CS.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    buttons_msg = CS.cruise_btns_msg_canfd
+    frame = 0
+
+    def update(samples, acc_available=True):
+      nonlocal frame
+      frame += 1
+      msgs = [packer.make_can_msg(buttons_msg, CanBus(CP).ECAN, {
+        "ADAPTIVE_CRUISE_MAIN_BTN": main, "LDA_BTN": lkas, "CRUISE_BUTTONS": cruise,
+      }) for main, lkas, cruise in samples]
+      msgs.append(packer.make_can_msg("TCS", CanBus(CP).ECAN, {"ACCEnable": 0 if acc_available else 1}))
+      parsers[Bus.pt].update([(frame * 10_000_000, msgs)])
+      CS.update(parsers, toggles)
+      return CS.ev6_aol_authorized
+
+    assert not update([(0, 0, Buttons.NONE)])
+    assert update([(0, 1, Buttons.NONE), (0, 0, Buttons.NONE)])
+    assert update([])
+    assert not update([(0, 1, Buttons.NONE), (0, 0, Buttons.NONE)])
+    assert update([(1, 0, Buttons.NONE), (1, 0, Buttons.NONE)])
+    assert update([(0, 0, Buttons.NONE)])
+    assert not update([(1, 0, Buttons.NONE), (0, 0, Buttons.NONE)])
+    assert update([(1, 0, Buttons.NONE), (0, 0, Buttons.NONE)])
+    assert not update([], acc_available=False)
+    assert not update([])
+    assert not update([(0, 0, Buttons.SET_DECEL)])
+    assert update([(0, 0, Buttons.NONE)]) == lkas_on_engage
+    assert update([]) == lkas_on_engage
+
+  @pytest.mark.parametrize("button", (Buttons.SET_DECEL, Buttons.RES_ACCEL))
+  @pytest.mark.parametrize("lkas_on_engage", (False, True))
+  def test_ev6_aol_engagement_latch_matches_safety_flag(self, button, lkas_on_engage):
+    state = Ev6AolArmingState(lkas_on_engage)
+    state.update(False, False, button)
+    assert not state.authorized
+    state.update(False, False, Buttons.NONE)
+    assert state.authorized == lkas_on_engage
+    state.update(False, False, Buttons.CANCEL)
+    assert state.authorized == lkas_on_engage
+    state.update(False, True, Buttons.NONE)
+    assert state.authorized != lkas_on_engage
+
+  def test_egmp_communication_control_paths(self):
+    stock_request = bytes([0x28, 0x83, 0x01])
+    radar_keepalive_request = bytes([0x28, 0x01, 0x01])
+
+    assert CAR.KIA_EV6 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.KIA_EV6 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.KIA_EV6) == stock_request
+
+    assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.HYUNDAI_IONIQ_5 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_5) == stock_request
+
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) == stock_request
+
+    assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
+
+  def test_ev6_adrv_0x51_replays_factory_payload(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.EV)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    factory = bytes.fromhex("88ed2e091700ffff5e0d0000012006ff021c2200000000000800000010000000")
+
+    hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, factory)
+    try:
+      address, dat, bus = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.KIA_EV6, drive_gear=True)
+      _, parked_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 8, CAR.KIA_EV6, drive_gear=False)
+      _, other_dat, _ = hyundaicanfd.create_adrv_0x51(packer, can_bus, 7, CAR.HYUNDAI_IONIQ_6)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert address == 0x51
+    assert bus == can_bus.ACAN
+    assert dat[2] == (factory[2] + 8) & 0xFF
+    assert dat[3:] == factory[3:]
+    assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
+    assert parked_dat[3] == factory[3] & ~0x1
+    assert parked_dat[4:] == factory[4:]
+    assert int.from_bytes(parked_dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(parked_dat))
+    assert other_dat[3:] == bytes(29)
+
+  def test_ev6_init_captures_factory_adrv_0x51(self, monkeypatch):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 16
+    radar_config = get_radar_track_config(CAR.KIA_EV6)
+    fingerprint[radar_config.bus][radar_config.start_addr] = radar_config.expected_length
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.KIA_EV6, fingerprint, car_fw, True, False, False, get_test_toggles())
+    factory = bytes.fromhex("6b657d090900e1ff000000000020ffff00000000000000000800000010000000")
+
+    def can_recv(*, wait_for_one=True):
+      msg = SimpleNamespace(address=0x51, src=CanBus(CP).ACAN, dat=factory)
+      return [[msg]]
+
+    def fake_disable_ecu(capturing_can_recv, *_args, **_kwargs):
+      capturing_can_recv(wait_for_one=True)
+      return True
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, can_recv, None)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    try:
+      _, dat, _ = hyundaicanfd.create_adrv_0x51(packer, CanBus(CP), 0, CAR.KIA_EV6, drive_gear=True)
+    finally:
+      hyundaicanfd.cache_adrv_0x51_template(CAR.KIA_EV6, None)
+
+    assert dat[3:] == factory[3:]
+
  def test_carnival_hev_low_speed_torque_rate_limits(self):
    CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
                                 False, False, False, None)
@@ -426,6 +566,42 @@ class TestHyundaiFingerprint:
    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_LKA_STEERING
    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.EV_GAS

+    gv70_radar_config = get_radar_track_config(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    assert gv70_radar_config.radar_type == "gv70_210"
+    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
+      gv70_fingerprint[gv70_radar_config.bus][addr] = gv70_radar_config.expected_length
+    assert radar_tracks_available(gv70_radar_config, gv70_fingerprint)
+
+    CP = CarInterface.get_params(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, gv70_fingerprint, gv70_car_fw,
+                                 True, False, False, None)
+    assert not CP.radarUnavailable
+
+    radar = RadarInterface(CP)
+    packer = CANPacker(gv70_radar_config.dbc_name)
+    messages = []
+    for addr in range(gv70_radar_config.start_addr, gv70_radar_config.start_addr + gv70_radar_config.msg_count):
+      message = packer.make_can_msg(f"RADAR_TRACK_{addr:x}", 0, {
+        "1_STATE": 3,
+        "1_LONG_DIST": 25.0,
+        "1_LAT_DIST": 0.5,
+        "1_REL_SPEED": -2.0,
+        "1_REL_LAT_SPEED": 0.1,
+        "1_REL_ACCEL": -0.2,
+      })
+      data = bytearray(message[1])
+      checksum = hkg_can_fd_checksum(addr, None, data)
+      data[0] = checksum & 0xff
+      data[1] = (checksum >> 8) & 0xff
+      messages.append((message[0], bytes(data), message[2]))
+    radar_data = radar.update([(1, messages)])
+    assert radar_data is not None
+    assert len(radar_data.points) == 16
+    assert radar_data.points[0].dRel == pytest.approx(25.0)
+
+    other_config = get_radar_track_config(CAR.HYUNDAI_IONIQ_5)
+    assert other_config.radar_type == "mrr30"
+    assert other_config.dbc_name is None
+
    for candidate in HYUNDAI_NON_SCC_CARS:
      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
      assert bool(CP.flags & HyundaiFlags.NON_SCC)
@@ -443,6 +619,13 @@ class TestHyundaiFingerprint:
    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
    assert CP.flags & HyundaiFlags.SEND_LFA

+  @pytest.mark.parametrize("candidate", list(CAR))
+  def test_no_stock_lka_safety_flag_is_sportage_only(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+    if CP.flags & HyundaiFlags.CANFD:
+      assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA) == \
+        (candidate == CAR.KIA_SPORTAGE_HEV_2026)
+
  def test_smart_mdps_allows_low_speed_steering(self):
    candidate = CAR.HYUNDAI_IONIQ_EV_LTD

@@ -570,14 +753,7 @@ class TestHyundaiFingerprint:
    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
    assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)

-  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
-    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
-    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
-
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
-    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
-    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
-
+  def test_palisade_2023_uses_can_canfd_blended_layout(self):
    palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
    assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
    assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
@@ -671,6 +847,45 @@ class TestHyundaiFingerprint:
    } <= msg_addrs_buses
    assert (0x364, 1) not in msg_addrs_buses

+  def test_palisade_telluride_hda2_aol_keeps_lkas_status_after_long_cancel(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x50] = 16
+    car_fw = [CarParams.CarFw(ecu=Ecu.adas, fwVersion=b"", address=0x730, brand="hyundai")]
+    CP = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, fingerprint, car_fw, True, False, False, None)
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadDistanceBars=3,
+      leadVisible=False,
+    )
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 24) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    CS = SimpleNamespace(lfa_block_msg=lfa_block_msg, redneck_send_button=Buttons.NONE, lkas11={}, msg_364={},
+                         out=SimpleNamespace(vEgoRaw=5.0))
+    CC = SimpleNamespace(enabled=False, latActive=True, longActive=False,
+                         cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False))
+    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
+    adas_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], 0)
+    ecan_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 1)
+
+    for steering_requested, icon, expected_status in ((True, 2, 2), (False, 1, 1)):
+      msgs = controller.create_can_msgs(steering_requested, 16 if steering_requested else 0, False,
+                                        0.0, 0.0, False, hud_control, actuators, CS, CC, icon, icon)
+      adas_parser.update([(1, [msg for msg in msgs if msg[0] == 0x50])])
+      ecan_parser.update([(1, [msg for msg in msgs if msg[0] == 0x340])])
+
+      assert adas_parser.vl["LKAS"]["LKA_ICON"] == icon
+      assert adas_parser.vl["LKAS"]["STEER_REQ"] == int(steering_requested)
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
+      assert ecan_parser.vl["LKAS11"]["CF_Lkas_ActToi"] == int(steering_requested)
+      assert not any(msg[0] == 0x364 for msg in msgs)
+
  def test_g70_aol_uses_active_lkas_icon(self):
    CP = CarInterface.get_params(CAR.GENESIS_G70_2020, gen_empty_fingerprint(), [], False, False, False, None)
    controller = CarController(DBC[CP.carFingerprint], CP)
@@ -693,6 +908,48 @@ class TestHyundaiFingerprint:

    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 2

+  @pytest.mark.parametrize(("candidate", "expected_status"), (
+    (CAR.KIA_NIRO_PHEV_2022, 2),
+    (CAR.KIA_NIRO_HEV_2021, 2),
+  ))
+  def test_classic_niro_aol_keeps_active_lkas_status(self, candidate, expected_status):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, get_test_toggles())
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0)], 0)
+
+    hud_control = SimpleNamespace(
+      visualAlert=CarControl.HUDControl.VisualAlert.none,
+      leftLaneVisible=True,
+      rightLaneVisible=True,
+      leftLaneDepart=False,
+      rightLaneDepart=False,
+      leadVisible=False,
+    )
+    CS = SimpleNamespace(lkas11=parser.vl["LKAS11"])
+    CC = SimpleNamespace(
+      enabled=False,
+      latActive=True,
+      longActive=False,
+      cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
+    )
+    actuators = SimpleNamespace(longControlState=LongCtrlState.off)
+
+    msgs = controller.create_can_msgs(True, 156, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 2, 0)
+    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
+    parser.update([(1, [lkas11])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 1
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == expected_status
+
+    CC.latActive = False
+    msgs = controller.create_can_msgs(False, 0, False, 0.0, 0.0, False, hud_control, actuators, CS, CC, 1, 0)
+    lkas11 = next(msg for msg in msgs if msg[0] == 0x340)
+    parser.update([(2, [lkas11])])
+
+    assert parser.vl["LKAS11"]["CF_Lkas_ActToi"] == 0
+    assert parser.vl["LKAS11"]["CF_Lkas_FcwOpt_USM"] == 1
+
  def test_kona_non_scc_uses_no_individual_lane_lkas_status(self):
    CP = CarInterface.get_params(CAR.HYUNDAI_KONA_NON_SCC, gen_empty_fingerprint(), [], False, False, False, None)
    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
@@ -896,6 +1153,31 @@ class TestHyundaiFingerprint:

    assert not (FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12)

+  @pytest.mark.parametrize("length, expected", ((6, True), (8, False)))
+  def test_stinger_only_replaces_six_byte_lkas12(self, length, expected):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[2][0x53E] = length
+    CP = CarInterface.get_params(CAR.KIA_STINGER_2022, fingerprint, [], True, False, False, None)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_STINGER_2022, fingerprint, [], CP, get_test_toggles())
+
+    assert bool(FPCP.flags & HyundaiStarPilotFlags.HAS_LKAS12) is expected
+
+  @pytest.mark.parametrize("alpha_long, main_aol, expected", (
+    (True, True, True), (True, False, True), (False, True, False),
+  ))
+  def test_stinger_aol_latches_lkas_after_long_engagement(self, alpha_long, main_aol, expected):
+    toggles = get_test_toggles()
+    toggles.always_on_lateral_main = main_aol
+    fingerprint = gen_empty_fingerprint()
+    CP = CarInterface.get_params(CAR.KIA_STINGER_2022, fingerprint, [], alpha_long, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_STINGER_2022, fingerprint, [], CP, toggles)
+
+    assert bool(FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE) is expected
+
+    sonata_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], alpha_long, False, False, toggles)
+    sonata_fpcp = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA, fingerprint, [], sonata_cp, toggles)
+    assert not (sonata_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE)
+
  def test_ray_ev_does_not_treat_eight_byte_485_as_lfa(self):
    fingerprint = gen_empty_fingerprint()
    fingerprint[2][0x485] = 8
@@ -1101,6 +1383,103 @@ class TestHyundaiFingerprint:
    assert canfd_alt_buttons_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS
    assert not canfd_alt_buttons_fpcp.redneckCruiseAvailable

+  def test_sportage_hev_hda2_redneck_uses_stock_scc(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    can_bus = CanBus(None, fingerprint, True)
+    fingerprint[can_bus.CAM][0x110] = 32
+    fingerprint[can_bus.ECAN][0x1CF] = 8
+
+    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
+
+    assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
+    assert FPCP.redneckCruiseAvailable
+    assert not FPCP.pcmCruiseSpeed
+    assert CP.pcmCruise
+    assert not CP.openpilotLongitudinalControl
+    assert not CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
+    controller = CarInterface(CP, FPCP).CC
+    assert not controller.long_active_ecu
+
+    controller.frame = 30
+    CS = SimpleNamespace(redneck_send_button=1, buttons_counter=5)
+    msgs = controller._create_canfd_redneck_button_messages(CS)
+    assert len(msgs) == 20
+    assert all(msg[0] == 0x1CF and msg[2] == can_bus.ECAN for msg in msgs)
+    assert all(msg[1][2] & 0x7 == Buttons.RES_ACCEL for msg in msgs)
+
+    controller.frame = 60
+    CS.redneck_send_button = 2
+    msgs = controller._create_canfd_redneck_button_messages(CS)
+    assert len(msgs) == 20
+    assert all(msg[1][2] & 0x7 == Buttons.SET_DECEL for msg in msgs)
+
+    monkeypatch.setattr(FakeParams, "get_bool", staticmethod(lambda key: False))
+    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
+    assert FPCP.redneckCruiseAvailable
+    assert FPCP.pcmCruiseSpeed
+    assert CP.pcmCruise
+    assert not CP.openpilotLongitudinalControl
+
+  def test_sportage_redneck_rejects_unverified_button_layouts(self, monkeypatch):
+    class FakeParams:
+      def __init__(self, *args, **kwargs):
+        pass
+
+      @staticmethod
+      def get_bool(key):
+        return key == "RedneckCruise"
+
+    monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+    toggles = get_test_toggles()
+    for button_address, button_bus, button_length, lka_steering in (
+      (0x1AA, 1, 16, True),
+      (0x1CF, 0, 8, True),
+      (0x1CF, 0, 8, False),
+      (0x1CF, 1, 16, True),
+    ):
+      fingerprint = gen_empty_fingerprint()
+      can_bus = CanBus(None, fingerprint, lka_steering)
+      if lka_steering:
+        fingerprint[can_bus.CAM][0x110] = 32
+      fingerprint[button_bus][button_address] = button_length
+
+      CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
+      FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
+      assert not FPCP.redneckCruiseAvailable
+      assert FPCP.pcmCruiseSpeed
+      assert CP.pcmCruise
+      assert not CP.openpilotLongitudinalControl
+
+    fingerprint = gen_empty_fingerprint()
+    can_bus = CanBus(None, fingerprint, True)
+    fingerprint[can_bus.CAM][0x110] = 32
+    fingerprint[can_bus.ECAN][0x1CF] = 8
+    fingerprint[can_bus.ECAN][0x1AA] = 16
+    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
+    assert not FPCP.redneckCruiseAvailable
+
+    fingerprint = gen_empty_fingerprint()
+    can_bus = CanBus(None, fingerprint, True)
+    fingerprint[can_bus.CAM][0x110] = 32
+    fingerprint[can_bus.ECAN][0x1CF] = 8
+    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, toggles)
+    CP.openpilotLongitudinalControl = True
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], CP, toggles)
+    assert not FPCP.redneckCruiseAvailable
+
  def test_hyundai_non_scc_without_redneck_keeps_stock_longitudinal_mode(self, monkeypatch):
    class FakeParams:
      def __init__(self, *args, **kwargs):
@@ -1440,8 +1819,8 @@ class TestHyundaiFingerprint:
    CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_2021, gen_empty_fingerprint(), [], True, False, False, toggles)

    assert CP.longitudinalActuatorDelay == pytest.approx(0.22)
-    assert CP.stopAccel == pytest.approx(-0.85)
-    assert CP.stoppingDecelRate == pytest.approx(0.35)
+    assert CP.stopAccel == pytest.approx(-1.1)
+    assert CP.stoppingDecelRate == pytest.approx(0.55)

  def test_elantra_hev_2024_longitudinal_delay_matches_observed_response(self):
    toggles = get_test_toggles()
@@ -1484,6 +1863,69 @@ class TestHyundaiFingerprint:
    assert exact
    assert matches == {candidate}

+  @pytest.mark.parametrize("alpha_long", (False, True))
+  @pytest.mark.parametrize("alt_buttons", (False, True))
+  @pytest.mark.parametrize("signal, value, button_type", (
+    ("LDA_BTN", 1, ButtonType.lkas),
+    ("ADAPTIVE_CRUISE_MAIN_BTN", 1, ButtonType.mainCruise),
+    ("CRUISE_BUTTONS", Buttons.RES_ACCEL, ButtonType.accelCruise),
+    ("CRUISE_BUTTONS", Buttons.SET_DECEL, ButtonType.decelCruise),
+    ("CRUISE_BUTTONS", Buttons.CANCEL, ButtonType.cancel),
+  ))
+  def test_k4_2025_2026_physical_button_events(self, alpha_long, alt_buttons, signal, value, button_type):
+    toggles = get_test_toggles()
+    fingerprint = gen_empty_fingerprint()
+    if not alt_buttons:
+      fingerprint[0][0x1CF] = 8
+    CP = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], alpha_long, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.KIA_K4_2025, fingerprint, [], CP, toggles)
+    car_state = CarState(CP, FPCP)
+    parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+
+    def update(button_value, frame):
+      msg = packer.make_can_msg(car_state.cruise_btns_msg_canfd, CanBus(CP).ECAN, {signal: button_value})
+      parsers[Bus.pt].update([(frame * 10_000_000, [msg])])
+      return car_state.update(parsers, toggles)[0].buttonEvents
+
+    assert not update(0, 1)
+    pressed = update(value, 2)
+    assert [(event.type, event.pressed) for event in pressed] == [(button_type, True)]
+    released = update(0, 3)
+    assert [(event.type, event.pressed) for event in released] == [(button_type, False)]
+
+  @pytest.mark.parametrize("camera_fw", [
+    b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+    b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+    b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
+  ])
+  @pytest.mark.parametrize("radar_fw", [
+    b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+    b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+  ])
+  def test_k4_2025_2026_fw_exact_matches(self, camera_fw, radar_fw):
+    car_fw = [
+      CarParams.CarFw(ecu=Ecu.fwdCamera, fwVersion=camera_fw, address=0x7c4, brand="hyundai"),
+      CarParams.CarFw(ecu=Ecu.fwdRadar, fwVersion=radar_fw, address=0x7d0, brand="hyundai"),
+    ]
+    exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
+    assert exact
+    assert matches == {CAR.KIA_K4_2025}
+
+  def test_staria_2023_australian_route_fw_exact_matches(self):
+    route_fw = {
+      (Ecu.fwdCamera, 0x7c4): b'\xf1\x00US4 MFC  AT AUS RHD 1.00 1.04 99211-CG000 210819',
+      (Ecu.fwdRadar, 0x7d0): b'\xf1\x00US4_ RDR -----      1.00 1.00 99110-CG000         ',
+    }
+    car_fw = [
+      CarParams.CarFw(ecu=ecu, fwVersion=version, address=address, subAddress=0, brand="hyundai")
+      for (ecu, address), version in route_fw.items()
+    ]
+
+    exact, matches = match_fw_to_car(car_fw, "KMFYFX71MPU095311", allow_fuzzy=False, log=False)
+    assert exact
+    assert matches == {CAR.HYUNDAI_STARIA_4TH_GEN}
+
  def test_kona_ev_non_scc_has_no_dedicated_fw_coverage(self):
    assert CAR.HYUNDAI_KONA_EV_NON_SCC not in FW_VERSIONS

@@ -2480,14 +2922,15 @@ class TestHyundaiFingerprint:
    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.0)
    assert parser.vl["LKAS_ALT"]["ADAS_StrAnglReqVal"] == pytest.approx(8.5)

-  def test_gv70_electrified_uses_generic_lkas_status_payload(self):
+  def test_gv70_electrified_uses_clean_damped_lkas_status_payload(self):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
-    CP.openpilotLongitudinalControl = False
+    CP.openpilotLongitudinalControl = True

    controller = CarController(DBC[CP.carFingerprint], CP)
    controller.frame = 1
+    controller.long_active_ecu = True
    can_bus = CanBus(CP)
    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
    stock_lkas = {
@@ -2508,6 +2951,7 @@ class TestHyundaiFingerprint:
      "DAMP_FACTOR": 100,
    }
    cc = SimpleNamespace(enabled=True, latActive=True,
+                         longActive=False,
                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                         leftBlinker=False, rightBlinker=False,
                         hudControl=SimpleNamespace())
@@ -2523,13 +2967,12 @@ class TestHyundaiFingerprint:
    parser.update([(1, lkas_msgs)])
    assert parser.can_valid
    assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
-    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
    assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 0
    assert parser.vl["LKAS"]["STEER_REQ"] == 1
-    assert parser.vl["LKAS"]["STEER_MODE"] == 0
-    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 0
+    assert parser.vl["LKAS"]["STEER_MODE"] == 2
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3

-    CP.openpilotLongitudinalControl = True
    lfa_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
    lfa_msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 0, 0.0)
    assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in lfa_msgs] == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
@@ -2537,13 +2980,12 @@ class TestHyundaiFingerprint:
    assert lfa_parser.can_valid
    assert lfa_parser.vl["LFA"]["DAMP_FACTOR"] == 100

-    controller.long_active_ecu = True
    cc.longActive = False
    inactive_msgs = controller.create_canfd_msgs(0, True, 0.44, 0.0, 0.0, 0.0, False,
                                                 cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
    steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                      if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]

    controller.frame = 1
    cc.longActive = True
@@ -2553,9 +2995,67 @@ class TestHyundaiFingerprint:
                      if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]

-  def test_ioniq_6_keeps_lfa_status_when_longitudinal_is_inactive(self):
+  def test_gv70_electrified_stock_long_uses_damped_lkas_request(self):
    CP = CarParams.new_message()
-    CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
+    CP.carFingerprint = CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
+    msgs = hyundaicanfd.create_steering_messages(controller.packer, CP, can_bus, True, True, 123, 0.0)
+
+    assert [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [("LKAS", can_bus.ACAN)]
+    parser.update([(1, msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 123
+    assert parser.vl["LKAS"]["STEER_REQ"] == 1
+    assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 0
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 100
+    assert parser.vl["LKAS"]["STEER_MODE"] == 2
+    assert parser.vl["LKAS"]["NEW_SIGNAL_2"] == 3
+
+  @pytest.mark.parametrize(("car", "powertrain_flag"), [
+    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
+    (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV),
+    (CAR.KIA_EV6, HyundaiFlags.EV),
+    (CAR.KIA_CARNIVAL_2025, 0),
+    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
+    (CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, HyundaiFlags.EV),
+  ])
+  def test_hda2_keeps_lfa_status_when_longitudinal_is_inactive(self, car, powertrain_flag):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
+    CP.openpilotLongitudinalControl = True
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    cc = SimpleNamespace(
+      enabled=False, latActive=False, longActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
+      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
+    )
+
+    controller.frame = 1
+    controller.long_active_ecu = True
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
+
+  @pytest.mark.parametrize("car", [
+    CAR.HYUNDAI_IONIQ_6,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  ])
+  def test_egmp_persistent_lfa_status_survives_ecu_fallback_state(self, car):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
    CP.openpilotLongitudinalControl = True

@@ -2569,6 +3069,7 @@ class TestHyundaiFingerprint:
    )
    cs = SimpleNamespace(
      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
    )

@@ -2591,10 +3092,11 @@ class TestHyundaiFingerprint:
      actuators=SimpleNamespace(longControlState=LongCtrlState.pid),
      cruiseControl=SimpleNamespace(override=False, cancel=False, resume=False),
      leftBlinker=False, rightBlinker=False,
-      hudControl=SimpleNamespace(leadDistanceBars=3),
+      hudControl=SimpleNamespace(leadDistanceBars=3, leadVisible=True),
    )
    cs = SimpleNamespace(
      stock_lfa_msg=None, stock_lkas_msg=None,
+      openpilot_lead_visible=True, openpilot_lead_distance=37.5, openpilot_lead_rel_speed=-1.3,
      out=SimpleNamespace(steeringAngleDeg=0.0, gearShifter=structs.CarState.GearShifter.drive),
    )

@@ -2607,7 +3109,8 @@ class TestHyundaiFingerprint:
    parser.update([(1, scc_msgs)])
    assert parser.can_valid
    assert parser.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
-    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(1.0)
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(37.5)
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjRelSpd"] == pytest.approx(-1.3)
    assert parser.vl["SCC_CONTROL"]["ObjValid"] == 0
    assert parser.vl["SCC_CONTROL"]["aReqValue"] == pytest.approx(-0.1)
    assert parser.vl["SCC_CONTROL"]["aReqRaw"] == pytest.approx(-1.0)
@@ -2708,7 +3211,7 @@ class TestHyundaiFingerprint:
    assert len([msg for msg in msgs if msg[0] == 0x110]) == expected_lkas_msgs

  @pytest.mark.parametrize("standstill", [False, True])
-  def test_sportage_angle_lkas_alt_keeps_inactive_status_in_drive(self, standstill):
+  def test_sportage_angle_lkas_alt_keeps_status_and_suppression_alive(self, standstill):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
@@ -2716,45 +3219,14 @@ class TestHyundaiFingerprint:
    CP.openpilotLongitudinalControl = False

    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
    can_bus = CanBus(CP)
-    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
-    stock_lkas = {
-      "CHECKSUM": 1234,
-      "COUNTER": 42,
-      "LKA_OptUsmSta": 2,
-      "LKA_MODE": 2,
-      "LKA_RcgSta": 3,
-      "LKA_AVAILABLE": 3,
-      "LKA_LHLnWrnSta": 3,
-      "LKA_RHLnWrnSta": 3,
-      "LKA_WARNING": 1,
-      "LKA_HndsoffSnd": 1,
-      "LKA_StrSnd": 1,
-      "LKA_SysIndReq": 4,
-      "LKA_ICON": 2,
-      "FCA_SYSWARN": 1,
-      "StrTqReqVal": 17,
-      "TORQUE_REQUEST": 17,
-      "ActToiSta": 3,
-      "STEER_REQ": 1,
-      "ToiFltSta": 3,
-      "LFA_BUTTON": 1,
-      "LKA_SysWrn": 15,
-      "LKA_ASSIST": 1,
-      "Damping_Gain": 0,
-      "STEER_MODE": 5,
-      "NEW_SIGNAL_2": 0,
-      "LKAS_ANGLE_ACTIVE": 2,
-      "LKA_UsmMod": 3,
-      "HAS_LANE_SAFETY": 1,
-      "ADAS_StrAnglReqVal": 12.3,
-      "ADAS_ACIAnglTqRedcGainVal": 0.42,
-      "DAMP_FACTOR": 0,
-    }
    cc = SimpleNamespace(enabled=False, latActive=False,
                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
-    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg=stock_lkas,
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
                         out=SimpleNamespace(standstill=standstill, steeringAngleDeg=0.0,
                                             gearShifter=structs.CarState.GearShifter.drive))

@@ -2762,14 +3234,52 @@ class TestHyundaiFingerprint:
                                        get_test_toggles(), lka_icon=1, lfa_icon=1)
    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1

+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
    parser.update([(1, lkas_msgs)])
    assert parser.can_valid
-    assert parser.vl["LKAS_ALT"]["LKA_StrSnd"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 1
    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 0
-    assert parser.vl["LKAS_ALT"]["LKA_AVAILABLE"] == 0
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 1
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == 0.0
+
+  def test_sportage_angle_lkas_alt_active_status_matches_vehicle_contract(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_SPORTAGE_HEV_2026
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.HYBRID | HyundaiFlags.CANFD_ANGLE_STEERING |
+                   HyundaiFlags.CANFD_LKA_STEERING | HyundaiFlags.CANFD_LKA_STEERING_ALT)
+    CP.openpilotLongitudinalControl = False
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 5
+    can_bus = CanBus(CP)
+    cc = SimpleNamespace(enabled=True, latActive=True,
+                         actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+                         leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace())
+    lfa_block_msg = {f"BYTE{i}": 0 for i in range(3, 32) if i != 7}
+    lfa_block_msg["COUNTER"] = 0
+    cs = SimpleNamespace(stock_lfa_msg=None, stock_lkas_msg={}, lfa_block_msg=lfa_block_msg,
+                         out=SimpleNamespace(standstill=False, steeringAngleDeg=10.0,
+                                             gearShifter=structs.CarState.GearShifter.drive))
+
+    msgs = controller.create_canfd_msgs(0, True, 0.4, 12.0, 0.0, 0.0, False, cc.hudControl, cs, cc,
+                                        get_test_toggles(), lka_icon=2, lfa_icon=2)
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x110]
+    assert len(lkas_msgs) == 1
+    assert len([msg for msg in msgs if msg[0] == 0x362]) == 1
+
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS_ALT", 0)], can_bus.ACAN)
+    parser.update([(1, lkas_msgs)])
+    assert parser.can_valid
+    assert parser.vl["LKAS_ALT"]["LKA_OptUsmSta"] == 0
+    assert parser.vl["LKAS_ALT"]["LKA_SysIndReq"] == 2
+    assert parser.vl["LKAS_ALT"]["LKA_RcgSta"] == 3
+    assert parser.vl["LKAS_ALT"]["Damping_Gain"] == 100
+    assert parser.vl["LKAS_ALT"]["LKAS_ANGLE_ACTIVE"] == 2
+    assert parser.vl["LKAS_ALT"]["ADAS_ACIAnglTqRedcGainVal"] == pytest.approx(0.4)

  def test_ev9_inactive_angle_steering_does_not_suppress_stock_lfa(self):
    CP = CarParams.new_message()
@@ -2895,6 +3405,50 @@ class TestHyundaiFingerprint:
    assert parser.vl["SCC14"]["ComfortBandUpper"] == pytest.approx(0.0)
    assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
    assert parser.vl["SCC14"]["JerkLowerLimit"] == pytest.approx(5.0)
+    assert parser.vl["SCC11"]["ObjValid"] == 0
+    assert parser.vl["SCC11"]["ACC_ObjDist"] == 0
+    assert parser.vl["SCC14"]["ObjGap"] == 0
+    assert parser.vl["SCC14"]["ObjDistStat"] == 0
+
+  def test_can_acc_commands_show_approaching_lead(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_ELANTRA_2021
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC11", 0), ("SCC14", 0)], 0)
+    lead_data = CanLeadData(object_gap=4, lead_distance=27.5, lead_rel_speed=-1.3, lead_visible=True)
+
+    msgs = hyundaican.create_acc_commands(packer, enabled=True, accel=0.0, upper_jerk=1.0, idx=3,
+                                          hud_control=SimpleNamespace(leadDistanceBars=3), set_speed=42,
+                                          stopping=False, long_override=False, use_fca=False, CP=CP,
+                                          lead_data=lead_data)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["SCC11"]["ObjValid"] == 1
+    assert parser.vl["SCC11"]["ACC_ObjStatus"] == 1
+    assert parser.vl["SCC11"]["ACC_ObjDist"] == pytest.approx(27.0)
+    assert parser.vl["SCC11"]["ACC_ObjRelSpd"] == pytest.approx(-1.3)
+    assert parser.vl["SCC14"]["ObjGap"] == 4
+    assert parser.vl["SCC14"]["ObjDistStat"] == 2
+
+  def test_can_lead_data_hysteresis_and_distance_bands(self):
+    state = CanLeadDataState()
+
+    for _ in range(state.LEAD_HYSTERESIS_FRAMES - 1):
+      lead_data = state.update(18.0, -0.5, True)
+    assert not lead_data.lead_visible
+    assert lead_data.object_gap == 0
+
+    lead_data = state.update(18.0, -0.5, True)
+    assert lead_data.lead_visible
+    assert lead_data.object_gap == 2
+    assert lead_data.object_rel_gap == 2
+
+    for _ in range(state.LEAD_HYSTERESIS_FRAMES):
+      lead_data = state.update(32.0, 0.5, True)
+    assert lead_data.object_gap == 5
+    assert lead_data.object_rel_gap == 1

  def test_can_acc_commands_follow_sonata_main_cruise_state(self):
    CP = CarParams.new_message()
@@ -0,0 +1,291 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, gen_empty_fingerprint
+from opendbc.car.hyundai.carcontroller import CarController
+from opendbc.car.hyundai.carstate import CarState
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiSafetyFlags
+from opendbc.car.structs import CarControl
+
+
+def ray_fingerprint(sensor_length=6, lfa_length=8):
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x201] = sensor_length
+  fingerprint[0][0x391] = 8
+  fingerprint[2][0x485] = lfa_length
+  return fingerprint
+
+
+@pytest.mark.parametrize(("candidate", "fingerprint", "has_pedal"), [
+  (CAR.KIA_RAY_EV, ray_fingerprint(), True),
+  (CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), False),
+  (CAR.KIA_RAY_EV, ray_fingerprint(lfa_length=4), False),
+  (CAR.HYUNDAI_KONA_EV_NON_SCC, ray_fingerprint(), False),
+])
+def test_ray_pedal_fingerprint_isolation(candidate, fingerprint, has_pedal):
+  CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+  assert CP.enableGasInterceptorDEPRECATED is has_pedal
+  assert CP.openpilotLongitudinalControl is has_pedal
+  if has_pedal:
+    assert not CP.pcmCruise
+    assert CP.safetyConfigs[-1].safetyParam == 0x9405
+    assert CP.minEnableSpeed == -1.0
+    assert not CP.autoResumeSng
+    FPCP = CarInterface.get_starpilot_params(candidate, fingerprint, [], CP, SimpleNamespace())
+    assert FPCP.canUsePedal
+    assert not FPCP.pcmCruiseSpeed
+    assert not FPCP.redneckCruiseAvailable
+  else:
+    assert CP.pcmCruise
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+
+def test_ray_pedal_safety_signature_is_unique_across_hyundai_platforms():
+  for candidate in CAR:
+    for alpha_long in (False, True):
+      CP = CarInterface.get_params(candidate, ray_fingerprint(), [],
+                                   alpha_long, False, False, None)
+      has_ray_signature = (CP.safetyConfigs[-1].safetyParam & ~(32 | 128 | 2048)) == 0x9405
+      assert has_ray_signature is (candidate == CAR.KIA_RAY_EV)
+      assert CP.enableGasInterceptorDEPRECATED is (candidate == CAR.KIA_RAY_EV)
+
+
+def test_ray_pedal_parser_validates_actual_route_frames():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  parser = CarState(CP, None).get_can_parsers(CP)[Bus.party]
+  assert parser.dbc_name == "hyundai_kia_ray_pedal"
+  # Consecutive bus-0 GAS_SENSOR frames from Sept. 15 Ray rlog segment 4.
+  samples = [bytes.fromhex(s) for s in (
+    "01f403d55de8", "01f603d55ef1", "01f403d55f51", "01f603d3503f",
+    "01f903d551ab", "01f903d552a4", "01f703d55370",
+  )]
+  for idx, dat in enumerate(samples):
+    parser.update([(1_000_000_000 + idx * 20_000_000, [(0x201, dat, 0)])])
+    assert parser.can_valid
+    assert parser.vl["GAS_SENSOR"]["STATE"] == 5  # FAULT_TIMEOUT: no 0x200 was sent
+
+  prior = parser.vl_raw["GAS_SENSOR"]
+  bad = bytearray(samples[-1])
+  bad[-1] ^= 1
+  parser.update([(1_160_000_000, [(0x201, bytes(bad), 0)])])
+  assert parser.vl_raw["GAS_SENSOR"] == prior
+
+
+def test_ray_pedal_fault_clears_only_with_healthy_sensor_state():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  sensor = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0,
+    "STATE": 0, "COUNTER_PEDAL": 1,
+  })
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [sensor])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert state.ray_pedal_state == 0
+  assert not ret.accFaulted
+
+
+def test_ray_driver_override_uses_physical_interceptor_tracks():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  physical_rest = (0x201, bytes.fromhex("010801f30cef"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas, physical_rest])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert not ret.gasPressed
+
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  physical_press = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": (310 - 264) * 0.672,
+    "INTERCEPTOR_GAS2": (593 - 497) * 0.332,
+    "STATE": 0, "COUNTER_PEDAL": 13,
+  })
+  for parser in parsers.values():
+    parser.update([(1_020_000_000, [physical_press])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+def test_ray_without_pedal_keeps_native_gas_detection():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), [], False, False, False, None)
+  assert not CP.enableGasInterceptorDEPRECATED
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  assert Bus.party not in parsers
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+@pytest.mark.parametrize("speed", [0.0, 0.1, 1.0, 4.9, 5.0, 12.0])
+def test_ray_controller_heartbeats_and_only_actuates_when_ready(speed):
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
+  CS = SimpleNamespace(
+    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
+    out=SimpleNamespace(vEgo=speed, gasPressed=False, brakePressed=False,
+                        cruiseState=SimpleNamespace(enabled=False)),
+    ray_pedal_valid=True, ray_pedal_state=5, is_metric=True,
+  )
+  CC = SimpleNamespace(
+    enabled=True, longActive=True, latActive=True,
+    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
+  )
+  hud = SimpleNamespace(
+    visualAlert=CarControl.HUDControl.VisualAlert.none,
+    setSpeed=20.0,
+    leftLaneVisible=True, rightLaneVisible=True,
+    leftLaneDepart=False, rightLaneDepart=False,
+  )
+  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.pid)
+
+  def pedal_msg(accel, frame):
+    controller.frame = frame
+    messages = controller.create_can_msgs(True, 0, False, 0.0, accel, False,
+                                          hud, actuators, CS, CC, 2, 0)
+    return next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)
+
+  assert pedal_msg(2.0, 0)[:4] == bytes(4)  # fault timeout: heartbeat only
+  CS.ray_pedal_state = 0
+  assert pedal_msg(2.0, 4)[:4] != bytes(4)
+  CS.out.gasPressed = True
+  assert pedal_msg(2.0, 8)[:4] == bytes(4)
+  CS.out.gasPressed = False
+  assert pedal_msg(-1.0, 12)[:4] == bytes(4)  # decel = EV lift/regen, not gas
+  CS.out.cruiseState.enabled = True
+  controller.frame = 16
+  messages = controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
+                                        hud, actuators, CS, CC, 2, 0)
+  assert next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)[4] & 0x80
+  assert any(addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4 for addr, dat, bus in messages)
+
+  CS.out.cruiseState.enabled = False
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 20)[:4] == bytes(4)
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 24)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+  assert pedal_msg(2.0, 28)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 32)[:4] == bytes(4)
+  assert controller._ray_pedal_gas_last == 0.0
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 36)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+
+  CC.longActive = False
+  assert pedal_msg(2.0, 40)[:4] == bytes(4)
+  CC.longActive = True
+  CC.cruiseControl.override = True
+  assert pedal_msg(2.0, 44)[:4] == bytes(4)
+  CC.cruiseControl.override = False
+  CS.ray_pedal_valid = False
+  assert pedal_msg(2.0, 48)[:4] == bytes(4)
+  CS.ray_pedal_valid = True
+  for fault in range(1, 6):
+    CS.ray_pedal_state = fault
+    assert pedal_msg(2.0, 48 + 4 * fault)[:4] == bytes(4)
+
+  CS.ray_pedal_state = 0
+  CS.out.vEgo = 10.0
+  assert pedal_msg(0.0, 72)[4] & 0x80
+  assert pedal_msg(-1.0, 76)[:4] == bytes(4)
+
+  CS.out.vEgo = 12.0
+  for frame in range(80, 80 + 4 * 40, 4):
+    pedal_msg(1.5, frame)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
+  for frame in range(240, 240 + 4 * 12, 4):
+    dat = pedal_msg(-1.5, frame)
+  assert dat[:4] == bytes(4)
+
+  for frame in range(288, 288 + 4 * 40, 4):
+    pedal_msg(1.5, frame)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
+  hud.setSpeed = 12.0
+  pedal_msg(1.5, 448)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65)
+  hud.setSpeed = 11.8
+  dat = pedal_msg(1.5, 452)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65 * 0.6)
+  assert dat[4] & 0x80
+  hud.setSpeed = 11.4
+  assert pedal_msg(1.5, 456)[:4] == bytes(4)
+  hud.setSpeed = float('nan')
+  assert pedal_msg(1.5, 460)[:4] == bytes(4)
+  hud.setSpeed = 20.0
+  assert pedal_msg(-0.3, 464)[:4] == bytes(4)
+  CS.out.vEgo = 15.0
+  hud.setSpeed = 53.0 / 3.6
+  pedal_msg(-0.16, 468)
+  assert controller._ray_pedal_gas_last < 0.1
+  CS.out.vEgo = 12.0
+  hud.setSpeed = 8.0 / 3.6
+  assert pedal_msg(-0.3, 472)[:4] == bytes(4)
+  hud.setSpeed = 145.0 / 3.6
+  assert pedal_msg(1.5, 476)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+  assert pedal_msg(1.5, 480)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
+  assert pedal_msg(-0.3, 484)[:4] == bytes(4)
+
+
+@pytest.mark.parametrize("candidate", [CAR.KIA_RAY_EV, CAR.HYUNDAI_KONA_EV_NON_SCC])
+def test_ray_stock_cruise_cancellation_survives_accelerator_override(candidate):
+  CP = CarInterface.get_params(candidate, ray_fingerprint(), [], False, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
+  CS = SimpleNamespace(
+    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
+    out=SimpleNamespace(vEgo=12.0, gasPressed=True, brakePressed=False,
+                        cruiseState=SimpleNamespace(enabled=True)),
+    ray_pedal_valid=True, ray_pedal_state=0, is_metric=True,
+  )
+  CC = SimpleNamespace(
+    enabled=True, longActive=False, latActive=True,
+    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=True),
+  )
+  hud = SimpleNamespace(
+    visualAlert=CarControl.HUDControl.VisualAlert.none,
+    setSpeed=20.0,
+    leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
+  )
+  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.off)
+  controller._create_can_redneck_button_messages = lambda _: []
+
+  def messages(frame):
+    controller.frame = frame
+    return controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
+                                      hud, actuators, CS, CC, 2, 0)
+
+  def cancel_frames(msgs):
+    return [dat for addr, dat, bus in msgs if addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4]
+
+  msgs = messages(20)
+  assert bool(cancel_frames(msgs)) is (candidate == CAR.KIA_RAY_EV)
+  if candidate == CAR.KIA_RAY_EV:
+    pedal = next(dat for addr, dat, bus in msgs if addr == 0x200 and bus == 0)
+    assert pedal[:4] == bytes(4)
+    assert not (pedal[4] & 0x80)
+    assert not cancel_frames(messages(24))  # retain the existing cancellation rate limit
+    assert cancel_frames(messages(25))
+    assert cancel_frames(messages(32))
+
+  CS.out.cruiseState.enabled = False
+  assert not cancel_frames(messages(44))
+  CS.out.cruiseState.enabled = True
+  CC.enabled = False
+  assert not cancel_frames(messages(56))  # AOL alone must not cancel native cruise
@@ -117,6 +117,7 @@ class HyundaiSafetyFlags(IntFlag):


 class HyundaiStarPilotSafetyFlags(IntFlag):
+  CANFD_NO_STOCK_LKA = 4096  # CAN-FD only; classic CAN uses this bit for NON_SCC.
  AOL_MAIN_LKAS_ON_ENGAGE = 128
  AOL_MAIN_LKAS_SYNC = 32
  HAS_LDA_BUTTON = 1024
@@ -605,6 +606,7 @@ class CAR(Platforms):
  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia K4 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (without HDA II) 2026", car_parts=CarParts.common([CarHarness.hyundai_a])),
      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
    ],
    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
@@ -1218,6 +1220,13 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
  CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
  CAR.HYUNDAI_IONIQ,
@@ -109,6 +109,7 @@ class RadarInterfaceBase(ABC):
    self.CP = CP
    self.rcp = None
    self.pts: dict[int, structs.RadarData.RadarPoint] = {}
+    self.track_id: int = 0
    self.frame = 0

  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
@@ -232,6 +233,9 @@ class CarInterfaceBase(ABC):
          fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)

      elif platform in HYUNDAI:
+        if candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+          fp_ret.canUsePedal = True
+          fp_ret.pcmCruiseSpeed = False
        if candidate in CANFD_CAR:
          hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
          CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
@@ -240,13 +244,28 @@ class CarInterfaceBase(ABC):
          if 0x1FA in fingerprint[CAN.ECAN]:
            fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value

-        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2]:
+        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2] and \
+            (candidate != HYUNDAI.KIA_STINGER_2022 or fingerprint[2][0x53E] == 6):
          fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value

-        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+        sportage_stock_scc_buttons = (
+          candidate == HYUNDAI.KIA_SPORTAGE_HEV_2026 and
+          not CP.openpilotLongitudinalControl and
+          bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and
+          not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
+          fingerprint[CAN.ECAN].get(0x1CF) == 8 and
+          0x1AA not in fingerprint[CAN.ECAN]
+        )
+        fp_ret.redneckCruiseAvailable = (
+          (bool(CP.flags & HyundaiFlags.NON_SCC) and
+           not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
+           not (candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED)) or
+          sportage_stock_scc_buttons
+        )
        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
          fp_ret.pcmCruiseSpeed = False
-          CP.openpilotLongitudinalControl = True
+          if CP.flags & HyundaiFlags.NON_SCC:
+            CP.openpilotLongitudinalControl = True

        if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and CP.openpilotLongitudinalControl:
          fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
@@ -269,6 +288,9 @@ class CarInterfaceBase(ABC):
          if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID:
            fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

+        if candidate == HYUNDAI.KIA_STINGER_2022 and CP.openpilotLongitudinalControl:
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+
        # The refresh Elantra's safety mapping comes from the resolved Galaxy
        # toggle above, not from this legacy persisted-parameter fallback.
        if candidate != HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \
@@ -0,0 +1,95 @@
+"""One bounded Legacy AVH ON request; 0x32B is status, never a TX command."""
+
+AVH_REQUEST = 0x6BB
+AVH_STATUS = 0x32B
+INPUTS = (AVH_REQUEST, AVH_STATUS, 0x40, 0x48, 0x13A, 0x174)
+
+
+def checksum(address, data):
+  return ((address & 0xFF) + (address >> 8) + sum(data[1:])) & 0xFF
+
+
+def avh_request(template, step):
+  if len(template) != 8 or checksum(AVH_REQUEST, template) != template[0] or template[2] & 3 or step not in (1, 2):
+    raise ValueError("Invalid AVH template or counter step")
+  data = bytearray(template)
+  data[1] = (data[1] & 0xF0) | ((data[1] + step) & 0xF)
+  data[2] |= 2
+  data[0] = checksum(AVH_REQUEST, data)
+  return AVH_REQUEST, bytes(data), 1
+
+
+class AvhStartup:
+  def __init__(self):
+    self.started = None
+    self.last_time = None
+    self.stable_since = None
+    self.frames = {}
+    self.done = False
+    self.followup = None
+
+  def update(self, now, frames, enabled, can_valid, controls_active):
+    if self.started is None:
+      self.started = now
+    if self.last_time is not None and now < self.last_time:
+      self.done = True
+    self.last_time = now
+    if self.done:
+      return []
+    if now - self.started > 30 or controls_active:
+      self.done = True
+      return []
+
+    for address, (timestamp, data) in frames.items():
+      if address not in INPUTS or timestamp <= 0:
+        continue
+      previous = self.frames.get(address)
+      if previous and timestamp == previous[0]:
+        continue
+      if len(data) != 8 or checksum(address, data) != data[0] or timestamp > now or (previous and timestamp < previous[0]):
+        self.done = True
+        return []
+      if (address == AVH_REQUEST and data[2] & 3) or (address == AVH_STATUS and data[5] & 0x20) or \
+         (address == 0x48 and data[3] != 4) or (address == 0x40 and data[4]) or \
+         (address == 0x13A and any((int.from_bytes(data, 'little') >> bit) & 0x1FFF for bit in (12, 25, 38, 51))):
+        self.done = True
+        return []
+      if previous and (data[1] & 15) == (previous[1][1] & 15):
+        continue  # duplicate counters cannot refresh freshness
+      # Controller snapshots can skip 50/100 Hz samples between updates. Panda
+      # checks their full counter stream; require consecutive head-unit frames here.
+      sequential = bool(previous and (address not in (AVH_REQUEST, AVH_STATUS) or
+                                     (data[1] & 15) == ((previous[1][1] + 1) & 15)))
+      self.frames[address] = (timestamp, data, sequential)
+
+    fresh = all(a in self.frames and self.frames[a][2] and
+                0 <= now - self.frames[a][0] <= (1.5 if a == AVH_REQUEST else 0.3) for a in INPUTS)
+    if not enabled or not can_valid or not fresh:
+      self.stable_since = None
+      if self.followup is not None:
+        self.done = True
+      return []
+    throttle = self.frames[0x40][1]
+    rpm = int.from_bytes(throttle[2:4], 'little') & 0x1FFF
+    if rpm < 400 or not self.frames[0x174][1][2] & 8:
+      self.stable_since = None
+      if self.followup is not None:
+        self.done = True
+      return []
+    if self.stable_since is None:
+      self.stable_since = now
+    if self.followup is not None:
+      sent, timestamp, template = self.followup
+      if now - sent > 0.075 or self.frames[AVH_REQUEST][0] != timestamp:
+        self.done = True
+      elif now - sent >= 0.05:
+        self.done = True
+        return [avh_request(template, 2)]
+      return []
+    if now - self.started < 10 or now - self.stable_since < 3:
+      return []
+    timestamp, template, _ = self.frames[AVH_REQUEST]
+    if now - timestamp > 0.010:
+      return []
+    self.followup = (now, timestamp, template)
+    return [avh_request(template, 1)]
@@ -4,6 +4,7 @@ from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
+from opendbc.car.subaru.avh import AvhStartup
 from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
 from opendbc.car.vehicle_model import VehicleModel

@@ -16,21 +17,11 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
-_LEGACY_2025_OVERRIDE_HOLD_FRAMES = 10
-_LEGACY_2025_REENGAGE_SETTLE_FRAMES = 8
-_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
-_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_LEGACY_2025_RECLAIM_FRAMES = 36
-_LEGACY_2025_RECLAIM_EXPONENT = 2.5
 _ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
-_ANGLE_OVERRIDE_HOLD_FRAMES = 10
-_ANGLE_REENGAGE_SETTLE_FRAMES = 8
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
-_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_ANGLE_RECLAIM_FRAMES = 36
-_ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
+_ASCENT_AOL_ARM_FRAMES = 30
 _STOP_START_STARTUP_DELAY_FRAMES = 100
 # StarPilot's first populated toggle message can arrive several seconds after
 # the car controller starts while fingerprinting and settings settle.
@@ -53,20 +44,11 @@ class CarController(CarControllerBase):
    self.apply_steer_last = 0
    self.driver_override = False
    self.angle_override_confirm_frames = 0
-    self.legacy_2025_lkas_active = False
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
    self.angle_lkas_active = False
    self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0
+    self.ascent_angle_initialized = False
+    self.ascent_aol_arm_frames = 0
+    self.ascent_es_distance_counter_last = None

    self.cruise_button_prev = 0
    self.steer_rate_counter = 0
@@ -77,7 +59,7 @@ class CarController(CarControllerBase):
    self.angle_bus = CanBus.angle_for_cp(CP)
    self.status_bus = CanBus.camera if CP.flags & SubaruFlags.D_PLATFORM_CAMERA else CanBus.main

-    if CP.flags & SubaruFlags.LKAS_ANGLE:
+    if CP.flags & SubaruFlags.LKAS_ANGLE and CP.carFingerprint != CAR.SUBARU_OUTBACK_2023:
      self.VM = VehicleModel(get_safety_CP())

    self.prev_close_distance = 0
@@ -90,6 +72,7 @@ class CarController(CarControllerBase):
    self.stop_start_counter = 0
    self.stop_start_acknowledged = False
    self.last_redneck_button_frame = 0
+    self.avh_startup = AvhStartup()

  def _stop_start_off_request(self, CC, CS, starpilot_toggles):
    """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -146,81 +129,10 @@ class CarController(CarControllerBase):
    self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
    return msg

-  def _reset_legacy_2025_handoff(self):
-    self.driver_override = False
-    self.angle_override_confirm_frames = 0
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
-
-  def _legacy_2025_manual_handoff(self, CS, lkas_available):
-    if not lkas_available:
-      self._reset_legacy_2025_handoff()
-      return False
-
-    driver_override = self._update_angle_driver_override(CS)
-    if driver_override:
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.legacy_2025_reclaim_frames = 0
-      return True
-
-    if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if not self.legacy_2025_handoff_active:
-      return False
-
-    if self.legacy_2025_override_hold_frames > 0:
-      self.legacy_2025_override_hold_frames -= 1
-      if self.legacy_2025_override_hold_frames == 0:
-        self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      return True
-
-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.legacy_2025_reengage_settle_frames += 1
-    else:
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.legacy_2025_reengage_settle_frames < _LEGACY_2025_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reclaim_frames = _LEGACY_2025_RECLAIM_FRAMES
-    self.legacy_2025_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
-
-  def _legacy_2025_reclaim_target(self, target_angle):
-    if self.legacy_2025_reclaim_frames <= 0:
-      return target_angle
-
-    progress = (_LEGACY_2025_RECLAIM_FRAMES - self.legacy_2025_reclaim_frames + 1) / _LEGACY_2025_RECLAIM_FRAMES
-    eased_progress = progress ** _LEGACY_2025_RECLAIM_EXPONENT
-    target_angle = self.legacy_2025_reclaim_start_angle + eased_progress * \
-      (target_angle - self.legacy_2025_reclaim_start_angle)
-    self.legacy_2025_reclaim_frames -= 1
-    return target_angle
-
  def _reset_angle_handoff(self):
    self.driver_override = False
    self.angle_override_confirm_frames = 0
    self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0

  def _angle_manual_handoff(self, CS, lat_active):
    if not lat_active:
@@ -228,44 +140,23 @@ class CarController(CarControllerBase):
      return False

    driver_override = self._update_angle_driver_override(CS)
+    steering_rate = abs(getattr(CS.out, "steeringRateDeg", 0.0))
    if driver_override:
      self.angle_handoff_active = True
-      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.angle_reclaim_frames = 0
      return True

-    if not self.angle_handoff_active and not self.angle_lkas_active and \
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
+    if self.angle_handoff_active:
+      if steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
+        return True
+
+      self.angle_handoff_active = False
+      return True
+
+    if not self.angle_lkas_active and steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
      self.angle_handoff_active = True
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if not self.angle_handoff_active:
-      return False
-
-    if self.angle_override_hold_frames > 0:
-      self.angle_override_hold_frames -= 1
-      if self.angle_override_hold_frames == 0:
-        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
      return True

-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.angle_reengage_settle_frames += 1
-    else:
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.angle_handoff_active = False
-    self.angle_reengage_settle_frames = 0
-    self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
-    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
+    return False

  def _update_angle_driver_override(self, CS):
    """Debounce the higher-confidence raw torque override signal for angle cars."""
@@ -283,16 +174,13 @@ class CarController(CarControllerBase):

    return self.driver_override

-  def _angle_reclaim_target(self, target_angle):
-    if self.angle_reclaim_frames <= 0:
-      return target_angle
+  def _ascent_aol_ready(self, ready):
+    if not ready:
+      self.ascent_aol_arm_frames = 0
+      return False

-    progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
-    eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
-    target_angle = self.angle_reclaim_start_angle + eased_progress * \
-      (target_angle - self.angle_reclaim_start_angle)
-    self.angle_reclaim_frames -= 1
-    return target_angle
+    self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES)
+    return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES

  def lateral_angle(self, CC, CS):
    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
@@ -302,12 +190,11 @@ class CarController(CarControllerBase):
      lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
        CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill

-      manual_handoff = self._legacy_2025_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
      lkas_active = lkas_available and not manual_handoff

-      steer_target = self._legacy_2025_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
      apply_steer = apply_std_steer_angle_limits(
-        steer_target,
+        CC.actuators.steeringAngleDeg,
        self.apply_steer_last,
        CS.out.vEgoRaw,
        CS.out.steeringAngleDeg,
@@ -315,42 +202,44 @@ class CarController(CarControllerBase):
        self.p.LEGACY_2025_ANGLE_LIMITS,
      )
      self.apply_steer_last = apply_steer
-      self.legacy_2025_lkas_active = lkas_active
+      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)

    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023 and not self.ascent_angle_initialized:
+        self.apply_steer_last = CS.out.steeringAngleDeg
+        self.ascent_angle_initialized = True
+
      mads_only = CC.latActive and not CC.enabled
      mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
        abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
      lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
        CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        if mads_only:
+          cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True)
+          lkas_available = self._ascent_aol_ready(lkas_available and cruise_available)
+        else:
+          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0

-      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+      if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+        manual_handoff = not self.angle_lkas_active and \
+          abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE
+      else:
+        manual_handoff = self._angle_manual_handoff(CS, lkas_available)
      lkas_active = lkas_available and not manual_handoff

-      if lkas_active and not self.angle_lkas_active:
+      if lkas_active and not self.angle_lkas_active and self.CP.carFingerprint != CAR.SUBARU_ASCENT_2023:
        self.apply_steer_last = CS.out.steeringAngleDeg

-      steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
-        apply_steer = apply_std_steer_angle_limits(
-          steer_target,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p.FIXED_ANGLE_LIMITS,
-        )
-      else:
-        apply_steer = apply_steer_angle_limits_vm(
-          steer_target,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p,
-          self.VM,
-        )
+      apply_steer = apply_std_steer_angle_limits(
+        CC.actuators.steeringAngleDeg,
+        self.apply_steer_last,
+        CS.out.vEgoRaw,
+        CS.out.steeringAngleDeg,
+        lkas_active,
+        self.p.FIXED_ANGLE_LIMITS,
+      )
      self.apply_steer_last = apply_steer
      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
@@ -365,9 +254,8 @@ class CarController(CarControllerBase):
    lat_active = lkas_available and not self.driver_override and not manual_handoff
    if lat_active and not self.angle_lkas_active:
      self.apply_steer_last = CS.out.steeringAngleDeg
-    steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
    apply_steer = apply_steer_angle_limits_vm(
-      steer_target,
+      CC.actuators.steeringAngleDeg,
      self.apply_steer_last,
      CS.out.vEgoRaw,
      CS.out.steeringAngleDeg,
@@ -408,6 +296,11 @@ class CarController(CarControllerBase):

    return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)

+  def _lkas_status_active(self, CC):
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      return self.angle_lkas_active
+    return CC.latActive
+
  def update(self, CC, CS, now_nanos, starpilot_toggles):
    actuators = CC.actuators
    hud_control = CC.hudControl
@@ -423,6 +316,13 @@ class CarController(CarControllerBase):
    if stop_start_msg is not None:
      can_sends.append(stop_start_msg)

+    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      can_sends.extend(self.avh_startup.update(
+        now_nanos / 1e9, getattr(CS, "avh_frames", {}),
+        getattr(starpilot_toggles, "subaru_avh_on", False), getattr(CS.out, "canValid", False),
+        CC.enabled or CC.latActive or CC.longActive,
+      ))
+
    # *** steering ***
    if (self.frame % self.p.STEER_STEP) == 0:
      if self.CP.flags & SubaruFlags.LKAS_ANGLE:
@@ -484,9 +384,11 @@ class CarController(CarControllerBase):
                                                        CC.longActive, hud_control.leadVisible,
                                                        self.status_bus))

-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, hud_control.visualAlert,
-                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus))
+        can_sends.append(subarucan.create_es_lkas_state(
+          self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
+          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus,
+        ))

        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg,
@@ -510,7 +412,12 @@ class CarController(CarControllerBase):
          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                        self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
      else:
-        if pcm_cancel_cmd:
+        cancel_frame_ready = True
+        if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+          stock_counter = CS.es_distance_msg["COUNTER"]
+          cancel_frame_ready = stock_counter != self.ascent_es_distance_counter_last
+          self.ascent_es_distance_counter_last = stock_counter
+        if pcm_cancel_cmd and cancel_frame_ready:
          if not (self.CP.flags & SubaruFlags.HYBRID):
            bus = CanBus.alt_for_cp(self.CP) if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else self.main_bus
            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
@@ -4,8 +4,9 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import DBC, CanBus, SUBARU_REDNECK_CRUISE_CARS, SUBARU_STOP_START_CARS, SubaruFlags
+from opendbc.car.subaru.values import CAR, DBC, CanBus, SUBARU_REDNECK_CRUISE_CARS, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
+from opendbc.car.subaru.avh import INPUTS as AVH_INPUTS

 ButtonType = structs.CarState.ButtonEvent.Type

@@ -26,6 +27,7 @@ class CarState(CarStateBase):
    self.dashlights_msg = {}
    self.dashlights_dat = b""
    self.stop_start_state = 0
+    self.avh_frames = {}
    self.cruise_buttons_msg = {}
    self.cruise_buttons = {button: 0 for button in SUBARU_CRUISE_BUTTONS}

@@ -37,6 +39,9 @@ class CarState(CarStateBase):
    cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
    ret = structs.CarState()

+    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      self.avh_frames = {a: (cp_alt.ts_nanos[a]["CHECKSUM"] / 1e9, cp_alt.vl_raw[a]) for a in AVH_INPUTS}
+
    if self.CP.carFingerprint in SUBARU_STOP_START_CARS:
      stop_start_cp = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
      self.dashlights_msg = copy.copy(stop_start_cp.vl["Dashlights"])
@@ -85,14 +90,14 @@ class CarState(CarStateBase):

    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
      ret.steeringAngleDeg = cp_angle.vl["Steering_2"]["Steering_Angle"]
-      steering_updated = len(cp_angle.vl_all["Steering_2"]["Steering_Angle"]) > 0
+      steering_counter = cp_angle.vl["Steering_2"]["COUNTER"]
    else:
      ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
+      steering_counter = cp.vl["Steering_Torque"].get("COUNTER", 0)

    if not (self.CP.flags & SubaruFlags.PREGLOBAL):
      # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_counter)

    ret.steeringTorque = cp_angle.vl["Steering_Torque"]["Steer_Torque_Sensor"]
    ret.steeringTorqueEps = cp_angle.vl["Steering_Torque"]["Steer_Torque_Output"]
@@ -177,11 +182,15 @@ class CarState(CarStateBase):

  @staticmethod
  def get_can_parsers(CP):
+    avh_messages = [(a, 0) for a in (0x6BB, 0x32B, 0x40, 0x48)] if CP.carFingerprint == CAR.SUBARU_LEGACY_2025 else []
    parsers = {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main_for_cp(CP)),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.camera),
-      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.alt_for_cp(CP))
+      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], avh_messages, CanBus.alt_for_cp(CP))
    }
    if CP.flags & SubaruFlags.D_PLATFORM:
      parsers[Bus.main] = CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main)
+    if CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      for address in AVH_INPUTS:
+        parsers[Bus.alt].vl[address]
    return parsers
@@ -42,7 +42,9 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
      if candidate in SUBARU_STOP_START_CARS:
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
+      if candidate == CAR.SUBARU_LEGACY_2025:
+        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.AVH_STARTUP.value
+      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value

    ret.steerLimitTimer = 0.4
@@ -0,0 +1,112 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car.subaru.avh import AVH_REQUEST, AVH_STATUS, INPUTS, AvhStartup, avh_request, checksum
+from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.interface import CarInterface
+from opendbc.car.subaru.values import CAR, SubaruSafetyFlags
+from opendbc.car import Bus
+
+
+def sample(address, counter):
+  data = bytearray(8)
+  data[1] = counter & 15
+  if address == AVH_REQUEST:
+    data[3], data[5], data[6] = 1, 0x80, 0x0E  # captured Legacy payload, not Outback constants
+  elif address == 0x40:
+    data[2:4] = (800).to_bytes(2, 'little')
+  elif address == 0x48:
+    data[3] = 4
+  elif address == 0x174:
+    data[2] = 8
+  data[0] = checksum(address, data)
+  return bytes(data)
+
+
+def prepare(fast_counter_step=1):
+  policy = AvhStartup()
+  frames = {}
+  for tick in range(101):
+    now = 100 + tick / 10
+    for address in INPUTS:
+      if address != AVH_REQUEST or tick % 10 == 0:
+        counter = tick // 10 if address == AVH_REQUEST else tick * (1 if address == AVH_STATUS else fast_counter_step)
+        frames[address] = (now, sample(address, counter))
+    sent = policy.update(now, frames, True, True, False)
+    if tick < 100:
+      assert sent == []
+  assert sent == [avh_request(frames[AVH_REQUEST][1], 1)]
+  return policy, frames
+
+
+def test_captured_legacy_press_bytes():
+  template = bytes.fromhex('5b0b000100800e00')
+  assert avh_request(template, 1) == (0x6BB, bytes.fromhex('5e0c020100800e00'), 1)
+  assert avh_request(template, 2) == (0x6BB, bytes.fromhex('5f0d020100800e00'), 1)
+  wrap = sample(AVH_REQUEST, 15)
+  assert avh_request(wrap, 1)[1][1] == 0
+  assert avh_request(wrap, 2)[1][1] == 1
+
+
+def test_two_frames_only_and_no_retry():
+  policy, frames = prepare()
+  assert policy.update(110.04, frames, True, True, False) == []
+  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
+  assert policy.update(110.07, frames, True, True, False) == []
+  assert policy.update(111, frames, True, True, False) == []
+
+
+def test_controller_snapshots_may_skip_fast_can_samples():
+  policy, frames = prepare(fast_counter_step=2)
+  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
+
+
+@pytest.mark.parametrize('reason', ['late', 'new_template', 'manual', 'ack', 'moving', 'gas', 'gear', 'invalid', 'disabled', 'engaged', 'stale'])
+def test_followup_aborts_permanently(reason):
+  policy, frames = prepare()
+  address, offset, value = {
+    'manual': (AVH_REQUEST, 2, 1), 'ack': (AVH_STATUS, 5, 32),
+    'moving': (0x13A, 2, 1), 'gas': (0x40, 4, 1), 'gear': (0x48, 3, 3),
+    'new_template': (AVH_REQUEST, 1, 11),
+  }.get(reason, (None, None, None))
+  if address is not None:
+    data = bytearray(frames[address][1])
+    data[1] = (data[1] + 1) & 15
+    data[offset] = value
+    data[0] = checksum(address, data)
+    frames[address] = (110.05, bytes(data))
+  if reason == 'stale':
+    frames[0x40] = (109, frames[0x40][1])
+  now = 110.08 if reason == 'late' else 110.06
+  assert policy.update(now, frames, reason != 'disabled', reason != 'invalid', reason == 'engaged') == []
+  assert policy.done
+  assert policy.update(111, frames, True, True, False) == []
+
+
+def test_only_legacy_has_avh_safety_permission():
+  for car in CAR:
+    cp = CarInterface.get_non_essential_params(car)
+    assert bool(cp.safetyConfigs[0].safetyParam & SubaruSafetyFlags.AVH_STARTUP) == (car == CAR.SUBARU_LEGACY_2025)
+
+
+def test_existing_required_messages_keep_alive_checks():
+  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
+  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.alt]
+  assert not parser.message_states[0x13A].ignore_alive
+  assert not parser.message_states[0x174].ignore_alive
+  assert parser.message_states[AVH_REQUEST].ignore_alive
+  assert parser.message_states[AVH_STATUS].ignore_alive
+
+
+def test_controller_sends_only_when_opted_in():
+  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
+  controller = CarController({}, cp)
+  cc = SimpleNamespace(enabled=False, latActive=False, longActive=False,
+                       actuators=SimpleNamespace(as_builder=lambda: SimpleNamespace(steeringAngleDeg=0)),
+                       hudControl=SimpleNamespace(leadVisible=False), cruiseControl=SimpleNamespace(cancel=False))
+  cs = SimpleNamespace(out=SimpleNamespace(canValid=True), avh_frames={})
+  toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=False, subaru_sng=False)
+  controller.frame = 1
+  _, sent = controller.update(cc, cs, 100_000_000_000, toggles)
+  assert not any(m[0] in (AVH_REQUEST, AVH_STATUS) for m in sent)
@@ -8,7 +8,7 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs
 from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
@@ -244,7 +244,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
  assert CP.flags & SubaruFlags.D_PLATFORM
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
  assert CanBus.main_for_cp(CP) == CanBus.alt
  assert CanBus.angle_for_cp(CP) == CanBus.main
  assert parsers[Bus.pt].bus == CanBus.alt
@@ -414,7 +414,7 @@ def test_legacy_2025_engagement_continues_from_last_sent_angle():
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.47)


-def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
+def test_legacy_2025_reengages_immediately_after_manual_steering_stops():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
  controller = CarController({}, CP)
  CC = SimpleNamespace(
@@ -444,42 +444,20 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
  CS.out.steeringPressed = False
  CS.out.steeringTorque = 0.0
  CS.out.steeringAngleDeg = -113.78
+  CS.out.steeringRateDeg = 0.0
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(3, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

-  for i in range(9):
-    CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(3 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-
-  for i in range(6):
-    if i % 2:
-      CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 0.0 if i % 2 == 0 else 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(12 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-
  CS.out.steeringRateDeg = 0.0
-  for i in range(8):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(18 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  measured_angle = CS.out.steeringAngleDeg
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(26, [msg])])
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert abs(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] - measured_angle) < 0.1
+  assert -113.78 < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -100.0


-def test_legacy_2025_manual_handoff_reclaim_is_gradual():
+def test_legacy_2025_manual_handoff_reentry_uses_normal_angle_limits():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
  controller = CarController({}, CP)
  CC = SimpleNamespace(
@@ -508,22 +486,24 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():
  CS.out.steeringPressed = False
  CS.out.steeringTorque = 0.0
  CS.out.steeringRateDeg = 0.0
-  for i in range(19):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(2 + i, [msg])])
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0

+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  first_reclaim_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
-  assert first_reclaim_angle == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  first_reentry_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
+  assert CC.actuators.steeringAngleDeg < first_reentry_angle < CS.out.steeringAngleDeg

-  reclaim_angles = []
+  reentry_angles = []
  for i in range(6):
    msg = controller.lateral_angle(CC, CS)
    parser.update([(20 + i, [msg])])
-    reclaim_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
+    reentry_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])

-  assert all(reclaim_angles[i] >= reclaim_angles[i + 1] for i in range(len(reclaim_angles) - 1))
-  assert reclaim_angles[-1] > CC.actuators.steeringAngleDeg
+  assert all(reentry_angles[i] >= reentry_angles[i + 1] for i in range(len(reentry_angles) - 1))
+  assert reentry_angles[-1] > CC.actuators.steeringAngleDeg


 def test_ascent_2023_uses_gen2_angle_bus_layout():
@@ -546,6 +526,25 @@ def test_ascent_2023_uses_gen2_angle_bus_layout():
  assert controller.status_bus == CanBus.main


+def test_ascent_steering_rate_retains_last_can_sample():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  car_state = CarState(CP, None)
+  parsers = car_state.get_can_parsers(CP)
+  toggles = SimpleNamespace(subaru_sng=False)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 1.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 1
+  car_state.update(parsers, toggles)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 2.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 2
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+
 def test_other_angle_platforms_keep_existing_bus_layout():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
  parsers = CarState.get_can_parsers(CP)
@@ -622,8 +621,9 @@ def test_angle_controller_blocks_low_speed_mads_engagement():
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1


-def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
+def test_angle_controller_uses_fixed_angle_rate_limits(platform):
+  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-14.88))
  CS = SimpleNamespace(out=SimpleNamespace(
@@ -643,8 +643,8 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0


-@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-def test_angle_controller_yields_until_manual_steering_settles(platform):
+def test_ascent_angle_controller_reengages_immediately_after_manual_steering_stops():
+  platform = CAR.SUBARU_ASCENT_2023
  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
@@ -671,18 +671,40 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):
  CS.out.steeringTorque = 0.0
  CS.out.steeringAngleDeg = -17.91
  CS.out.steeringRateDeg = 0.0
-  for i in range(18):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(2 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  msg = controller.lateral_angle(CC, CS)
-  parser.update([(20, [msg])])
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CC.actuators.steeringAngleDeg


-def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
+def test_ascent_reentry_rate_uses_last_transmitted_angle():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  controller.angle_handoff_active = True
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-1.45))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=30.3, steeringAngleDeg=0.78, steeringRateDeg=-1.5, steeringTorque=56.0,
+    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  parser.update([(1, [controller.lateral_angle(CC, CS)])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.78)
+
+  CS.out.steeringAngleDeg = 0.74
+  CS.out.steeringRateDeg = -1.99
+  parser.update([(2, [controller.lateral_angle(CC, CS)])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.53, abs=0.01)
+
+
+def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-206.12))
@@ -692,6 +714,7 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
    steeringRateDeg=96.0,
    steeringTorque=7.0,
    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=True),
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
  ))
@@ -704,21 +727,77 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():

  CS.out.steeringAngleDeg = -100.0
  CS.out.steeringRateDeg = 0.0
+  for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1

  CS.out.gearShifter = structs.CarState.GearShifter.reverse
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)


-def test_lkas_hud_state_uses_lateral_active():
+def test_ascent_aol_does_not_arm_before_cruise_main_is_available():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=False),
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame in range(_ASCENT_AOL_ARM_FRAMES):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame + 1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 0
+
+  CS.out.cruiseState.available = True
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 1
+
+
+def test_ascent_angle_controller_does_not_delay_normal_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
+def test_lkas_hud_state_uses_angle_request_state():
  update_source = inspect.getsource(CarController.update)

-  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive" in update_source
+  assert "CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert" in update_source
  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source


@@ -736,3 +815,136 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):

  assert parser.can_valid
  assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected
+
+
+def test_outback_manual_steering_keeps_cooperative_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=-225.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.9,
+    steeringAngleDeg=-57.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=True,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame, steering_torque in enumerate((-79.0, -81.0, -170.0, -250.0, -250.0, 79.0, 81.0, 170.0, 250.0, 250.0), start=1):
+    CS.out.steeringRateDeg = 0.0 if frame == 1 else -45.0
+    CS.out.steeringTorque = steering_torque
+    CS.out.steeringPressed = abs(steering_torque) > 80.0
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+    assert CC.actuators.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CS.out.steeringAngleDeg
+    assert controller._lkas_status_active(CC)
+
+
+def test_outback_waits_for_manual_turn_to_settle_before_reentry():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-80.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=7.3, steeringAngleDeg=-121.47, steeringRateDeg=126.5,
+    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+  for frame, (angle, rate, active) in enumerate([
+    (-121.47, 126.5, False), (-117.96, 122.5, False), (-88.65, 112.0, False),
+    (-0.24, 0.0, True),
+  ], start=1):
+    CS.out.steeringAngleDeg = angle
+    CS.out.steeringRateDeg = rate
+    parser.update([(frame, [controller.lateral_angle(CC, CS)])])
+    assert bool(parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"]) == active
+    if not active:
+      assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(angle, abs=0.01)
+
+
+def test_ascent_hud_waits_for_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(latActive=True)
+
+  assert not controller._lkas_status_active(CC)
+  controller.angle_lkas_active = True
+  assert controller._lkas_status_active(CC)
+
+
+@pytest.mark.parametrize("platform", [CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023, CAR.SUBARU_LEGACY_2025,
+                                      CAR.SUBARU_CROSSTREK_2025, CAR.SUBARU_ASCENT])
+def test_stock_cruise_cancel_fresh_frame_gate_is_ascent_angle_only(platform):
+  CP = CarInterface.get_non_essential_params(platform)
+  controller = CarController({}, CP)
+  CC = structs.CarControl()
+  CC.cruiseControl.cancel = True
+  CS = SimpleNamespace(
+    out=structs.CarState(),
+    es_distance_msg=defaultdict(int, COUNTER=11),
+    es_dashstatus_msg=defaultdict(int),
+    es_lkas_state_msg=defaultdict(int),
+    es_infotainment_msg=defaultdict(int),
+  )
+  toggles = SimpleNamespace(subaru_sng=False)
+  cancel_messages = []
+  for frame in range(5):
+    _, sends = controller.update(CC.as_reader(), CS, frame * 10_000_000, toggles)
+    cancel_messages.extend(msg for msg in sends if msg[0] == 0x221)
+
+  assert len(cancel_messages) == (1 if platform == CAR.SUBARU_ASCENT_2023 else 5)
+  assert all(msg[2] == (CanBus.alt if CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main) for msg in cancel_messages)
+  parser = CANParser(DBC[platform][Bus.pt], [("ES_Distance", 0)], cancel_messages[0][2])
+  parser.update([(1, [cancel_messages[0]])])
+  assert parser.vl["ES_Distance"]["COUNTER"] == 12
+  assert parser.vl["ES_Distance"]["Cruise_Cancel"] == 1
+  assert parser.vl["ES_Distance"]["Cruise_Throttle"] == 1818
+
+
+def test_ascent_cancel_uses_fresh_stock_frames_and_handles_counter_rollover():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = structs.CarControl()
+  CC.latActive = True
+  CS = SimpleNamespace(
+    out=structs.CarState(vEgoRaw=24.04, steeringAngleDeg=2.93, gearShifter="drive"),
+    es_distance_msg=defaultdict(int, COUNTER=14),
+    es_dashstatus_msg=defaultdict(int),
+    es_lkas_state_msg=defaultdict(int),
+    es_infotainment_msg=defaultdict(int),
+  )
+  CS.out.cruiseState.available = True
+  toggles = SimpleNamespace(subaru_sng=False)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_Distance", 0)], CanBus.alt)
+  cancel_counters = []
+  for frame, (stock_counter, cancel) in enumerate([
+    (14, False), (14, True), (15, True), (15, True), (0, True), (0, True),
+    (1, False), (1, True), (2, True),
+  ]):
+    CS.es_distance_msg["COUNTER"] = stock_counter
+    CC.cruiseControl.cancel = cancel
+    _, sends = controller.update(CC.as_reader(), CS, frame * 10_000_000, toggles)
+    cancel_messages = [msg for msg in sends if msg[0] == 0x221]
+    assert len(cancel_messages) <= 1
+    if cancel_messages:
+      parser.update([(frame + 1, cancel_messages)])
+      cancel_counters.append(parser.vl["ES_Distance"]["COUNTER"])
+      assert parser.vl["ES_Distance"]["Cruise_Cancel"] == 1
+      assert parser.vl["ES_Distance"]["Cruise_Throttle"] == 1818
+
+  assert cancel_counters == [0, 1, 3]
+
+
+def test_other_angle_cars_keep_lateral_status_behavior():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  controller.angle_lkas_active = False
+
+  assert controller._lkas_status_active(SimpleNamespace(latActive=True))
@@ -90,6 +90,7 @@ class SubaruSafetyFlags(IntFlag):
  FIXED_ANGLE_LIMITS = 128
  STOP_START_BUTTON = 256
  REDNECK_CRUISE = 512
+  AVH_STARTUP = 1024
  LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS


@@ -5,9 +5,10 @@ from opendbc.car.lateral import apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.tesla.coop_steering import CooperativeSteeringController
 from opendbc.car.tesla.teslacan import TeslaCAN
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
 from opendbc.car.tesla.preap.carcontroller import PreAPLongController, init_preap_can
 from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
-from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags, LEGACY_CARS
 from opendbc.car.vehicle_model import VehicleModel

 def get_safety_CP():
@@ -24,6 +25,7 @@ class CarController(CarControllerBase):
    self.coop_enabled = CP.carFingerprint == CAR.TESLA_MODEL_3 and any(
      config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in CP.safetyConfigs
    )
+    self._clear_steering_limit_info()
    self.packer = CANPacker(dbc_names[Bus.party])
    self.tesla_can = TeslaCAN(self.packer)
    self.preap_long = None
@@ -38,9 +40,37 @@ class CarController(CarControllerBase):
      self.stock_cc = StockCCSpoofer()
      from opendbc.car.tesla.interface import CarInterface
      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP))
+    elif CP.carFingerprint in LEGACY_CARS:
+      self.packers = {
+        CANBUS.party: CANPacker(dbc_names[Bus.party]),
+      }
+      self.tesla_can = TeslaCANRaven(self.packers)
+      from opendbc.car.tesla.interface import CarInterface
+      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1))
+
+  def _clear_steering_limit_info(self):
+    self.steering_limit_info_valid = False
+    self.model_limit_error_deg = 0.0
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0
+    self.steering_limit_mono_time = 0
+    self.combined_limit_error_deg = 0.0
+
+  def get_steering_limit_info(self) -> dict[str, bool | float | int]:
+    return {
+      "valid": self.steering_limit_info_valid,
+      "modelLimitErrorDeg": self.model_limit_error_deg,
+      "resumeLimitErrorDeg": self.resume_limit_error_deg,
+      "cooperativeLimitErrorDeg": self.cooperative_limit_error_deg,
+      "cooperativeOffsetDeg": self.cooperative_offset_deg,
+      "monoTime": self.steering_limit_mono_time,
+      "combinedLimitErrorDeg": self.combined_limit_error_deg,
+    }

  def update(self, CC, CS, now_nanos, starpilot_toggles):
    if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
+      self._clear_steering_limit_info()
      return self._update_preap(CC, CS)

    actuators = CC.actuators
@@ -48,8 +78,12 @@ class CarController(CarControllerBase):

    # Preserve the stock controller path unless cooperative steering is explicitly enabled.
    lat_active = CC.latActive and (not CS.out.steeringDisengage if self.coop_enabled else CS.hands_on_level < 3)
+    if not (self.coop_enabled and lat_active):
+      self._clear_steering_limit_info()

    if self.frame % 2 == 0:
+      requested_angle = actuators.steeringAngleDeg
+
      # Angular rate limit based on speed
      self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
                                                          lat_active, CarControllerParams, self.VM)
@@ -57,9 +91,34 @@ class CarController(CarControllerBase):
      self.apply_angle_command_last, lat_active = self.coop_steer.update(
        self.apply_angle_last, lat_active, self.coop_enabled, CS, self.VM,
      )
-      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))

-    if self.frame % 10 == 0:
+      if self.coop_enabled and lat_active:
+        model_limit_error_deg = abs(requested_angle - self.apply_angle_last)
+        resume_limit_error_deg = self.coop_steer.resume_limit_error_deg
+        cooperative_limit_error_deg = self.coop_steer.cooperative_limit_error_deg
+        cooperative_offset_deg = self.coop_steer.cooperative_offset_deg
+        combined_limit_error_deg = abs(requested_angle + cooperative_offset_deg - self.apply_angle_command_last)
+        limit_values = (model_limit_error_deg, resume_limit_error_deg, cooperative_limit_error_deg,
+                        cooperative_offset_deg, combined_limit_error_deg)
+
+        if all(np.isfinite(value) for value in limit_values):
+          self.steering_limit_info_valid = True
+          self.model_limit_error_deg = model_limit_error_deg
+          self.resume_limit_error_deg = resume_limit_error_deg
+          self.cooperative_limit_error_deg = cooperative_limit_error_deg
+          self.cooperative_offset_deg = cooperative_offset_deg
+          self.steering_limit_mono_time = now_nanos
+          self.combined_limit_error_deg = combined_limit_error_deg
+        else:
+          self._clear_steering_limit_info()
+
+      if self.CP.carFingerprint in LEGACY_CARS:
+        cntr = (self.frame // 2) % 16
+        can_sends.append(self.tesla_can.create_steering_control(cntr, self.apply_angle_command_last, lat_active))
+      else:
+        can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
+
+    if self.frame % 10 == 0 and self.CP.carFingerprint not in LEGACY_CARS:
      can_sends.append(self.tesla_can.create_steering_allowed())

    # Longitudinal control
@@ -68,13 +127,21 @@ class CarController(CarControllerBase):
        state = 13 if CC.cruiseControl.cancel else 4  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
        accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
        cntr = (self.frame // 4) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          hw1_accel = accel if CC.longActive and not CC.cruiseControl.cancel else 0.
+          hw1_active = CC.longActive and not CC.cruiseControl.cancel
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, hw1_accel, cntr, CS.out.vEgo, hw1_active, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))

    else:
      # Increment counter so cancel is prioritized even without openpilot longitudinal
      if CC.cruiseControl.cancel:
        cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))

    # TODO: HUD control
    new_actuators = actuators.as_builder()
@@ -86,7 +153,7 @@ class CarController(CarControllerBase):
  def _update_preap(self, CC, CS):
    actuators = CC.actuators
    can_sends = []
-    lat_active = CC.latActive and CS.hands_on_level < 3
+    lat_active = CC.latActive and CS.hands_on_level < 3 and getattr(CS, "preap_lateral_authorized", False)

    if CC.cruiseControl.cancel and CS.cruiseEnabled:
      CS.cruiseEnabled = False
@@ -102,8 +169,10 @@ class CarController(CarControllerBase):
        CS.engagement.pedal_speed_kph = 0.0

    if self.frame % 2 == 0:
+      requested_angle = float(np.clip(actuators.steeringAngleDeg,
+                                       CS.out.steeringAngleDeg - 20., CS.out.steeringAngleDeg + 20.))
      self.apply_angle_last = apply_steer_angle_limits_vm(
-        actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
+        requested_angle, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
        lat_active, CarControllerParams, self.VM,
      )
      cntr = (self.frame // 2) % 16
@@ -1,10 +1,13 @@
 import copy
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, structs
+from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import (
+  DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags,
+  CAR, LEGACY_CARS, TeslaFlags,
+)
 from opendbc.car.tesla.preap.carstate import get_preap_can_parsers, update_preap
 from opendbc.car.tesla.preap.engagement import PreAPEngagement
 from opendbc.car.tesla.preap.nap_conf import nap_conf
@@ -16,6 +19,20 @@ TESLA_GAS_PRESS_ON = 0.8
 TESLA_GAS_PRESS_OFF = 0.4


+class TeslaScreenCANParser(CANParser):
+  def __init__(self):
+    super().__init__("tesla_model3_vehicle", [("UI_status2", 0), ("SCCM_rightStalk", 0)], CANBUS.vehicle)
+
+  def update(self, strings, sendcan=False):
+    if strings and not isinstance(strings[0], list | tuple):
+      strings = [strings]
+    # Match Panda's exact-length check before producing engagement button events.
+    return super().update([
+      (timestamp, [frame for frame in frames if (frame[0], len(frame[1])) in ((0x3DF, 8), (0x229, 3))])
+      for timestamp, frames in strings
+    ], sendcan)
+
+
 def update_tesla_gas_pressed(previous: bool, pedal_position: float) -> bool:
  threshold = TESLA_GAS_PRESS_OFF if previous else TESLA_GAS_PRESS_ON
  return float(pedal_position) > threshold
@@ -25,8 +42,19 @@ class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
    self.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
-    self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
-                          self.can_define.dv["DI_torque2"]["DI_gear"]
+    if CP.carFingerprint in LEGACY_CARS:
+      self.can_define_party = CANDefine(DBC[CP.carFingerprint][Bus.party])
+      self.can_define_pt = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+      self.can_define_chassis = CANDefine(DBC[CP.carFingerprint][Bus.chassis])
+      self.can_defines = {
+        **self.can_define_party.dv,
+        **self.can_define_pt.dv,
+        **self.can_define_chassis.dv,
+      }
+      self.shifter_values = self.can_defines["DI_torque2"]["DI_gear"]
+    else:
+      self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
+                            self.can_define.dv["DI_torque2"]["DI_gear"]

    self.autopark = False
    self.autopark_prev = False
@@ -37,6 +65,8 @@ class CarState(CarStateBase):
    self.cruise_buttons = 0
    self.prev_cruise_buttons = 0
    self.gas_pressed = False
+    self.active_touch_points = None
+    self.screen_cancel_pressed = False
    self.msg_stw_actn_req = None
    self.speed_units = "MPH"
    self.cooperative_steering = any(
@@ -72,9 +102,25 @@ class CarState(CarStateBase):
      return False
    return super().update_button_enable(buttonEvents)

+  def update_screen_button(self, cp_vehicle):
+    events = []
+    for stalk_status in cp_vehicle.vl_all["SCCM_rightStalk"]["SCCM_rightStalkStatus"]:
+      cancel_pressed = int(stalk_status) in (1, 2)  # UP_1, UP_2
+      events.extend(create_button_events(cancel_pressed, self.screen_cancel_pressed, {True: ButtonType.cancel}))
+      self.screen_cancel_pressed = cancel_pressed
+    for touch_points in cp_vehicle.vl_all["UI_status2"]["UI_activeTouchPoints"]:
+      touch_points = int(touch_points)
+      # Establish a baseline first; a touch already held during boot is not an engagement request.
+      if self.active_touch_points is not None:
+        events.extend(create_button_events(touch_points, self.active_touch_points, {3: ButtonType.lkas}))
+      self.active_touch_points = touch_points
+    return events
+
  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
    if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return update_preap(self, can_parsers)
+    if self.CP.carFingerprint in LEGACY_CARS:
+      return self.update_legacy(can_parsers)

    cp_party = can_parsers[Bus.party]
    cp_ap_party = can_parsers[Bus.ap_party]
@@ -165,19 +211,109 @@ class CarState(CarStateBase):
    else:
      pass
    # Buttons # ToDo: add Gap adjust button
+    if self.CP.flags & TeslaFlags.AOL_SCREEN_BUTTON:
+      ret.buttonEvents = list(ret.buttonEvents) + self.update_screen_button(can_parsers[Bus.adas])

    # Messages needed by carcontroller
    self.das_control = copy.copy(cp_ap_party.vl["DAS_control"])

    fp_ret = custom.StarPilotCarState.new_message()
+    if self.CP.flags & TeslaFlags.AOL_SCREEN_BUTTON:
+      fp_ret.cancelPressed = self.screen_cancel_pressed

    return ret, fp_ret

+  def update_legacy(self, can_parsers):
+    cp_party = can_parsers[Bus.party]
+    cp_ap_party = can_parsers[Bus.ap_party]
+    cp_pt = can_parsers[Bus.pt]
+    cp_ap_pt = can_parsers[Bus.ap_pt]
+    cp_chassis = can_parsers[Bus.chassis]
+    ret = structs.CarState()
+    fp_ret = custom.StarPilotCarState.new_message()
+
+    # Vehicle speed
+    ret.vEgoRaw = cp_chassis.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+
+    # Gas and brake
+    ret.gasPressed = cp_pt.vl["DI_torque1"]["DI_pedalPos"] > 0
+    ret.brake = 0
+    ret.brakePressed = cp_chassis.vl["BrakeMessage"]["driverBrakeStatus"] != 1
+
+    # Steering wheel and EPAS status
+    epas_status = cp_chassis.vl["EPAS_sysStatus"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
+    ret.steeringRateDeg = -cp_chassis.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
+
+    eac_status = self.can_defines["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+    ret.steerFaultPermanent = eac_status == "EAC_FAULT"
+    ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
+    eac_error_code = self.can_defines["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    ret.steeringDisengage = self.hands_on_level >= 3 or (
+      eac_status == "EAC_INHIBITED" and eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY"
+    )
+
+    # Cruise
+    cruise_state = self.can_defines["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
+    speed_units = self.can_defines["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
+    cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
+    ret.cruiseState.enabled = cruise_enabled
+    if speed_units == "KPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.KPH_TO_MS, 1e-3)
+    elif speed_units == "MPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.MPH_TO_MS, 1e-3)
+    ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
+    ret.cruiseState.standstill = False
+    ret.standstill = ret.vEgoRaw < 0.1
+    ret.accFaulted = cruise_state == "FAULT"
+
+    # Gear, body state, and safety state
+    ret.gearShifter = GEAR_MAP[self.can_defines["DI_torque2"]["DI_gear"].get(
+      int(cp_chassis.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
+
+    doors = ("DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE")
+    ret.doorOpen = any(
+      self.can_defines["GTW_carState"][door].get(int(cp_chassis.vl["GTW_carState"][door]), "OPEN") == "OPEN"
+      for door in doors
+    )
+    ret.leftBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorLStatus"] == 1
+    ret.rightBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorRStatus"] == 1
+
+    _ = cp_chassis.vl["SDM1"]
+    _ = cp_chassis.vl["RCM_status"]
+    sd_time = cp_chassis.ts_nanos["SDM1"]["SDM_bcklDrivStatus"]
+    rcm_time = cp_chassis.ts_nanos["RCM_status"]["RCM_buckleDriverStatus"]
+    if sd_time and cp_chassis._last_update_nanos - sd_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["SDM1"]["SDM_bcklDrivStatus"] != 1
+    elif rcm_time and cp_chassis._last_update_nanos - rcm_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["RCM_status"]["RCM_buckleDriverStatus"] != 1
+    else:
+      ret.seatbeltUnlatched = True
+
+    ret.stockAeb = cp_ap_pt.vl["DAS_control"]["DAS_aebEvent"] == 1
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2
+    self.das_control = copy.copy(cp_ap_pt.vl["DAS_control"])
+    return ret, fp_ret
+
  @staticmethod
  def get_can_parsers(CP):
    if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_can_parsers(CP)
+    if CP.carFingerprint in LEGACY_CARS:
+      return {
+        Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
+        Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.party),
+        Bus.ap_pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.autopilot_party),
+        Bus.chassis: CANParser(DBC[CP.carFingerprint][Bus.chassis], [("SDM1", 0), ("RCM_status", 0)], CANBUS.party),
+      }
    return {
      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
-      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party)
+      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
+      **({Bus.adas: TeslaScreenCANParser()}
+         if CP.flags & TeslaFlags.AOL_SCREEN_BUTTON else {}),
    }
@@ -62,6 +62,9 @@ class CooperativeSteeringController:
    self.angle_override = 0.0
    self.resume_rate_limiter_delta = SteerRateLimiter()
    self.resume_rate_limiter = SteerRateLimiter()
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0

  def reset_override_state(self, apply_angle: float) -> None:
    self.apply_angle_last = apply_angle
@@ -105,19 +108,25 @@ class CooperativeSteeringController:
    return self.resume_rate_limiter.update(apply_angle, angle_rate_delta)

  def update(self, apply_angle: float, lat_active: bool, enabled: bool, CS, VM: VehicleModel) -> tuple[float, bool]:
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0
    if not enabled:
      self.reset_resume_state(apply_angle)
      self.reset_override_state(apply_angle)
      return apply_angle, lat_active

+    requested_angle = apply_angle
    apply_angle = self.apply_resume_rate_limit(lat_active, apply_angle)
+    self.resume_limit_error_deg = abs(requested_angle - apply_angle)
    if not lat_active:
      self.reset_override_state(apply_angle)
      return apply_angle, False

    apply_angle_delta = apply_angle - self.apply_angle_last
    self.apply_angle_last = apply_angle
-    apply_angle += self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
+    self.cooperative_offset_deg = self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
+    apply_angle += self.cooperative_offset_deg

    limited_angle = apply_steer_angle_limits_vm(
      apply_angle,
@@ -129,5 +138,6 @@ class CooperativeSteeringController:
      VM,
    )
    self.coop_apply_angle_last = limited_angle
+    self.cooperative_limit_error_deg = abs(apply_angle - limited_angle)
    self.unwind_override_angle(apply_angle - limited_angle)
    return limited_angle, True
@@ -5,6 +5,12 @@ from opendbc.car.tesla.values import CAR
 Ecu = CarParams.Ecu

 FW_VERSIONS = {
+  CAR.TESLA_MODEL_S_HW1: {
+    (Ecu.eps, 0x730, None): [
+      b'1016704-00-HAA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x10\x00A',
+    ],
+  },
  CAR.TESLA_MODEL_3: {
    (Ecu.eps, 0x730, None): [
      b'TeM3_E014p10_0.0.0 (16),E014.17.00',
@@ -1,9 +1,9 @@
-from opendbc.car import get_safety_config, structs
+from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
 from opendbc.car.tesla.radar_interface import RadarInterface
-from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import TeslaFlags, TeslaSafetyFlags, CANBUS, CAR, DBC, LEGACY_CARS
 from opendbc.car.tesla.preap.interface import get_preap_accel_limits, get_preap_params


@@ -23,6 +23,12 @@ class CarInterface(CarInterfaceBase):
    ret = super().get_params(candidate, fingerprint, car_fw, alpha_long, is_release, docs, starpilot_toggles)
    if candidate == CAR.TESLA_MODEL_3 and getattr(starpilot_toggles, "tesla_cooperative_steering", False):
      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.COOP_STEERING.value
+    if (ret.flags & TeslaFlags.HAS_VEHICLE_BUS and
+        getattr(starpilot_toggles, "tesla_aol_screen_tap_requested", False)):
+      ret.flags |= TeslaFlags.AOL_SCREEN_BUTTON.value
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.AOL_SCREEN_BUTTON.value
+      if getattr(starpilot_toggles, "tesla_aol_screen_brake_disengage_requested", False):
+        ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.AOL_SCREEN_DISENGAGE_ON_BRAKE.value
    return ret

  @staticmethod
@@ -32,8 +38,26 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_params(ret)

+    if candidate in LEGACY_CARS:
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, TeslaSafetyFlags.FLAG_HW1.value)]
+      ret.steerLimitTimer = 0.4
+      ret.steerActuatorDelay = 0.1
+      ret.steerAtStandstill = True
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+      ret.radarUnavailable = Bus.radar not in DBC[candidate]
+      ret.radarTimeStepDEPRECATED = 0.125
+      ret.alphaLongitudinalAvailable = True
+
+      if alpha_long:
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
+      return ret
+
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]

+    if candidate in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y) and fingerprint[CANBUS.vehicle].get(0x3DF) == 8:
+      ret.flags |= TeslaFlags.HAS_VEHICLE_BUS.value
+
    ret.steerLimitTimer = 0.4
    ret.steerActuatorDelay = 0.1
    ret.steerAtStandstill = True
@@ -13,6 +13,8 @@ class PreAPEngagement:
    self.enableDoublePull = double_pull_enabled
    self.double_pull_window_ms = double_pull_window_ms
    self.cruiseEnabled = False
+    self.lateralEnabled = False
+    self.lateralRearmRequired = False
    self.enableLongControl = False
    self.enableJustCC = False
    self.pending_enable = False
@@ -28,6 +30,8 @@ class PreAPEngagement:

  def handle_steering_disengage(self, steering_disengage: bool) -> None:
    if steering_disengage and not self.prev_steering_disengage:
+      self.lateralEnabled = False
+      self.lateralRearmRequired = True
      self.cruiseEnabled = False
      self.enableLongControl = False
      self.enableJustCC = False
@@ -45,6 +49,8 @@ class PreAPEngagement:
    button_events: list[structs.CarState.ButtonEvent] = []

    if cruise_buttons == CruiseButtons.MAIN and prev_cruise_buttons != CruiseButtons.MAIN:
+      self.lateralEnabled = True
+      self.lateralRearmRequired = False
      if self.enableDoublePull:
        self._handle_double_pull(curr_time_ms, v_ego, speed_units, use_pedal, pedal_long_allowed, long_control_allowed, di_cruise_state)
      else:
@@ -75,6 +81,8 @@ class PreAPEngagement:
  def check_can_engage(self, door_open: bool, gear_shifter, seatbelt_unlatched: bool) -> bool:
    can_engage = not door_open and gear_shifter == structs.CarState.GearShifter.drive and not seatbelt_unlatched
    if not can_engage:
+      self.lateralEnabled = False
+      self.lateralRearmRequired = True
      self.cruiseEnabled = False
      self.enableLongControl = False
      self.enableJustCC = False
@@ -118,6 +126,8 @@ class PreAPEngagement:
                ((curr_time_ms - self.preap_last_cc_spoof_ms) < SPOOF_ECHO_WINDOW_MS)
      be.type = ButtonType.unknown if is_echo else ButtonType.cancel
      if not is_echo:
+        self.lateralEnabled = False
+        self.lateralRearmRequired = True
        self.cruiseEnabled = False
        self.enableLongControl = False
        self.enableJustCC = False
@@ -145,4 +155,3 @@ class PreAPEngagement:
  def _capture_target_speed(v_ego: float, speed_units: str) -> float:
    speed_uom_kph = CV.MPH_TO_KPH if speed_units == "MPH" else 1.0
    return max(int(v_ego * CV.MS_TO_KPH / speed_uom_kph + 0.5) * speed_uom_kph, 0.0)
-
@@ -0,0 +1,21 @@
+from opendbc.car import structs
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+
+
+def preap_lateral_authorized(CP, CS, panda_states, panda_states_valid: bool) -> bool:
+  """Match Pre-AP's existing safety authorization without treating software CC availability as ACC main."""
+  if not panda_states_valid or CS.out.gearShifter != structs.CarState.GearShifter.drive or CS.out.doorOpen or CS.out.steeringDisengage:
+    return False
+  if CS.engagement.lateralRearmRequired:
+    return False
+  config = CP.safetyConfigs[0]
+  matching = [p for p in panda_states if p.safetyModel == config.safetyModel and p.safetyParam == config.safetyParam]
+  if len(matching) != 1 or matching[0].safetyRxChecksInvalid:
+    return False
+  panda = matching[0]
+  # Physical cancel/override/gear changes clear this latch immediately, whereas
+  # Panda telemetry can lag. Longitudinal software cancellation leaves it intact.
+  stalk_authorized = CS.engagement.lateralEnabled and panda.controlsAllowed
+  stock_main = CS.di_cruise_state in ("STANDBY", "ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
+  aol_authorized = bool(panda.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL) and stock_main
+  return bool(stalk_authorized or aol_authorized)
@@ -0,0 +1,36 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC
+
+
+@pytest.mark.parametrize('direction', [-1., 1.])
+def test_preap_stalled_rack_request_stays_within_legacy_tracking_envelope(direction):
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  controller.stock_cc = None
+  cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=3., steeringAngleDeg=0.),
+                       hands_on_level=0, preap_lateral_authorized=True, cruiseEnabled=False)
+  cc = structs.CarControl.new_message()
+  cc.latActive = True
+  cc.actuators.steeringAngleDeg = direction * 100.
+  previous = 0.
+  for frame in range(100):
+    output, _ = controller.update(cc.as_reader(), cs, frame * 10000000, None)
+    assert abs(output.steeringAngleDeg) <= 20.
+    assert abs(output.steeringAngleDeg - previous) <= 5.
+    previous = output.steeringAngleDeg
+  assert previous == direction * 20.
+
+  cs.out.steeringAngleDeg = -direction * 50.
+  output, _ = controller.update(cc.as_reader(), cs, 1000000000, None)
+  assert abs(output.steeringAngleDeg - previous) <= 5.
+
+  cc.latActive = False
+  controller.frame = 102
+  output, _ = controller.update(cc.as_reader(), cs, 1020000000, None)
+  assert output.steeringAngleDeg == cs.out.steeringAngleDeg
@@ -16,7 +16,7 @@ class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)

-    self.radar_off_can = CP.radarUnavailable or CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
+    self.radar_off_can = CP.radarUnavailable or Bus.radar not in DBC[CP.carFingerprint]
    self.updated_messages: set[int] = set()
    self.track_id = 0
    self.radar_offset = float(nap_conf.radar_offset) if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP else 0.0
@@ -0,0 +1,53 @@
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.interfaces import V_CRUISE_MAX
+from opendbc.car.tesla.values import CANBUS, CarControllerParams
+
+
+class TeslaCANRaven:
+  """CAN commands used by the legacy Model S/X powertrain and EPAS buses."""
+
+  def __init__(self, packers):
+    self.packers = packers
+    self.CCP = CarControllerParams
+    self.jerk_upper = self.CCP.JERK_LIMIT_MAX
+    self.jerk_lower = self.CCP.JERK_LIMIT_MIN
+
+  @staticmethod
+  def checksum(msg_id, dat):
+    return ((msg_id & 0xFF) + ((msg_id >> 8) & 0xFF) + sum(dat)) & 0xFF
+
+  def create_steering_control(self, counter, angle, enabled):
+    values = {
+      "DAS_steeringControlCounter": counter,
+      "DAS_steeringAngleRequest": -angle,
+      "DAS_steeringHapticRequest": 0,
+      "DAS_steeringControlType": 1 if enabled else 0,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)[1]
+    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
+    return self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)
+
+  def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active, gas_pressed):
+    set_speed = max(v_ego * CV.MS_TO_KPH, 0)
+    if active:
+      set_speed = 0 if accel < 0 else V_CRUISE_MAX
+
+    if gas_pressed:
+      self.jerk_upper = self.jerk_lower = 0.0
+    else:
+      self.jerk_lower = max(self.jerk_lower - self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MIN)
+      self.jerk_upper = min(self.jerk_upper + self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MAX)
+
+    values = {
+      "DAS_setSpeed": set_speed,
+      "DAS_accState": acc_state,
+      "DAS_aebEvent": 0,
+      "DAS_jerkMin": self.jerk_lower,
+      "DAS_jerkMax": self.jerk_upper,
+      "DAS_accelMin": accel,
+      "DAS_accelMax": max(accel, 0),
+      "DAS_controlCounter": counter,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)[1]
+    values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
+    return self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+"""Offline AP1/HW1 CAN, radar, controller, and panda-safety replay.
+
+Usage: PYTHONPATH=. python -m opendbc.car.tesla.tests.replay_hw1_route PATH_TO_RLOGS
+
+The supplied Pre-AP recording contains stock AP commands copied to bus 0 while
+ELM327/old firmware forwarded traffic. The counterfactual run skips those copies:
+the HW1 safety mode blocks stock 0x488/0x2b9 forwarding on bus 2. This is NOT a
+physical HW1 drive; it cannot validate engagement or steering actuation on-car.
+"""
+
+import argparse
+from collections import Counter
+from pathlib import Path
+
+from cereal import custom
+from openpilot.tools.lib.logreader import LogReader
+from opendbc.car import Bus, structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.radar_interface import RadarInterface
+from opendbc.car.tesla.values import CAR, DBC, TeslaSafetyFlags
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+def replay(paths: list[Path], simulate_active: bool = False):
+  fp = {0: {0x201: 5}, 1: {}, 2: {}}
+  cp = CarInterface.get_params(CAR.TESLA_MODEL_S_HW1, fp, [], True, False, False, None)
+  assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert cp.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+  safety = libsafety_py.libsafety
+  assert safety.set_safety_hooks(int(structs.CarParams.SafetyModel.tesla), cp.safetyConfigs[0].safetyParam) == 0
+  safety.init_tests()
+
+  parsers = CarState.get_can_parsers(cp)
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  active_controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp) if simulate_active else None
+  radar = RadarInterface(cp)
+  stats = Counter()
+  first_rejected = []
+  active_rejected = []
+  last_ap_command: dict[tuple[int, bytes], int] = {}
+  suppressed_examples = []
+
+  for path in paths:
+    for event in LogReader(str(path)):
+      if event.which() != "can":
+        continue
+      t = event.logMonoTime
+      frames = [(x.address, bytes(x.dat), x.src) for x in event.can]
+      stock_in_event = {(a, d) for a, d, b in frames if b == 2 and a in (0x488, 0x2b9)}
+      for a, d, b in frames:
+        if b == 2 and a in (0x488, 0x2b9):
+          last_ap_command[(a, d)] = t
+        if b == 0 and a in (0x488, 0x2b9):
+          seen = last_ap_command.get((a, d), -1)
+          if (a, d) in stock_in_event or (0 <= t - seen < 250_000_000):
+            stats["suppressed_bus0_stock_copies"] += 1
+            continue
+          stats["unmatched_bus0_stock_commands"] += 1
+          if len(suppressed_examples) < 5:
+            suppressed_examples.append((path.name, t, hex(a), d.hex()))
+        if b < 128:
+          stats["physical_rx"] += 1
+          if not safety.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)):
+            stats["rx_rejected"] += 1
+          if b == 2 and a in (0x488, 0x2b9):
+            stats["stock_forward_blocked"] += safety.safety_fwd_hook(b, a) == -1
+
+      safety.set_timer((t // 1000) & 0xffffffff)
+      safety.safety_tick_current_safety_config()
+      stats["safety_invalid_ticks"] += not safety.safety_config_valid()
+      stats["relay_malfunction_ticks"] += safety.get_relay_malfunction()
+      stats["controls_allowed_ticks"] += safety.get_controls_allowed()
+
+      batch = [(t, frames)]
+      for parser in parsers.values():
+        parser.update(batch)
+        stats["invalid_car_parser_ticks"] += not parser.can_valid
+      out, _ = cs.update(parsers, None)
+      cs.out = out
+      stats["carstate_faulted_ticks"] += out.accFaulted
+      stats["seatbelt_unlatched_ticks"] += out.seatbeltUnlatched
+      stats["steering_inhibited_ticks"] += out.steerFaultTemporary
+      stats["cruise_engaged_ticks"] += out.cruiseState.enabled
+
+      radar_data = radar.update(batch)
+      if radar_data is not None:
+        stats["radar_updates"] += 1
+        stats["radar_points"] += len(radar_data.points)
+        stats["radar_error_updates"] += radar_data.errors.canError or radar_data.errors.radarFault
+
+      cc = structs.CarControl.new_message()
+      cc.actuators.steeringAngleDeg = out.steeringAngleDeg
+      cc.actuators.accel = 0.
+      # Do not fabricate engagement on the actual faulted/standby route.
+      _, sends = controller.update(cc.as_reader(), cs, t, None)
+      for a, d, b in sends:
+        stats["generated_tx"] += 1
+        stats[f"generated_{hex(a)}"] += 1
+        if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+          stats["tx_rejected"] += 1
+          if len(first_rejected) < 5:
+            first_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, safety.get_relay_malfunction()))
+
+      if active_controller is not None:
+        # A synthetic gate test only. This recording never engaged cruise, so
+        # enabling controls here does NOT represent an actual car-state transition.
+        eligible = (not (out.steerFaultTemporary or out.steerFaultPermanent or out.steeringDisengage or out.accFaulted or
+                         out.gasPressed or out.brakePressed or out.stockAeb or out.stockLkas) and out.vEgoRaw > 2.)
+        simulated = structs.CarControl.new_message()
+        simulated.latActive = eligible
+        simulated.longActive = eligible
+        simulated.actuators.steeringAngleDeg = out.steeringAngleDeg
+        simulated.actuators.accel = 0.5 if eligible else 0.
+        _, active_sends = active_controller.update(simulated.as_reader(), cs, t, None)
+        if eligible:
+          stats["simulated_eligible_ticks"] += 1
+          safety.set_controls_allowed(True)
+          for a, d, b in active_sends:
+            stats["simulated_tx"] += 1
+            stats[f"simulated_{hex(a)}"] += 1
+            if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+              stats["simulated_tx_rejected"] += 1
+              if len(active_rejected) < 5:
+                active_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, out.vEgoRaw))
+          safety.set_controls_allowed(False)
+      stats["can_events"] += 1
+    print(f"{path.name}: {dict(stats)}", flush=True)
+
+  print(f"unmatched bus-0 command examples: {suppressed_examples}")
+  print(f"rejected TX examples: {first_rejected}")
+  print(f"rejected synthetic-active TX examples: {active_rejected}")
+  print(f"final: {dict(stats)}")
+  return stats
+
+
+if __name__ == "__main__":
+  argp = argparse.ArgumentParser(description=__doc__)
+  argp.add_argument("rlogs", type=Path, help="directory containing segment rlog.zst files")
+  argp.add_argument("--simulate-active", action="store_true", help="force safety engagement only on healthy standby samples")
+  args = argp.parse_args()
+  files = sorted(args.rlogs.glob("*.rlog.zst"))
+  if not files:
+    argp.error("no *.rlog.zst files found")
+  replay(files, args.simulate_active)
@@ -1,3 +1,4 @@
+import math
 from types import SimpleNamespace

 import pytest
@@ -73,3 +74,110 @@ def test_safety_flag_is_model_3_only(candidate, enabled, expected):

  if candidate != CAR.TESLA_MODEL_S_PREAP:
    assert CarController(DBC[candidate], params).coop_enabled is expected
+
+
+def assert_finite_nonnegative_limit_errors(controller):
+  errors = (controller.resume_limit_error_deg, controller.cooperative_limit_error_deg)
+  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
+  assert math.isfinite(controller.cooperative_offset_deg)
+
+
+def test_zero_torque_has_zero_cooperative_diagnostics(vehicle_model):
+  controller = CooperativeSteeringController()
+
+  angle, lat_active = controller.update(0.0, True, True, make_car_state(), vehicle_model)
+
+  assert angle == 0.0
+  assert lat_active
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg == 0.0
+  assert controller.cooperative_offset_deg == 0.0
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_steady_light_torque_reports_offset_without_real_limiting(vehicle_model):
+  controller = CooperativeSteeringController()
+
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
+
+  assert controller.cooperative_offset_deg > 2.5
+  assert controller.resume_limit_error_deg < 2.5
+  assert controller.cooperative_limit_error_deg < 2.5
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_torque_reversal_updates_signed_offset_without_negative_errors(vehicle_model):
+  controller = CooperativeSteeringController()
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
+
+  for _ in range(200):
+    controller.update(0.0, True, True, make_car_state(torque=-0.9), vehicle_model)
+
+  assert controller.cooperative_offset_deg < -2.5
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_release_reports_gradual_offset_unwind(vehicle_model):
+  controller = CooperativeSteeringController()
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=1.5), vehicle_model)
+
+  offsets = []
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(), vehicle_model)
+    offsets.append(controller.cooperative_offset_deg)
+
+  assert offsets[0] > offsets[-1] >= 0.0
+  assert all(next_offset <= offset for offset, next_offset in zip(offsets, offsets[1:]))
+  assert offsets[-1] == pytest.approx(0.0, abs=1e-6)
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_resume_ramp_reports_resume_limiting(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(0.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+
+  assert controller.resume_limit_error_deg > 2.5
+  assert controller.cooperative_limit_error_deg < 2.5
+  assert controller.cooperative_offset_deg == 0.0
+
+
+def test_final_limiter_reports_cooperative_target_clipping(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg > 2.5
+  assert controller.cooperative_offset_deg == 0.0
+
+
+def test_final_limiter_remains_visible_with_light_torque(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(torque=-0.9), vehicle_model)
+
+  assert abs(controller.cooperative_offset_deg) > 0.0
+  assert controller.cooperative_limit_error_deg > 2.5
+
+
+def test_diagnostics_reset_on_disabled_update(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+  assert controller.cooperative_limit_error_deg > 2.5
+
+  controller.update(4.0, True, False, make_car_state(torque=2.0), vehicle_model)
+
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg == 0.0
+  assert controller.cooperative_offset_deg == 0.0
@@ -0,0 +1,228 @@
+import json
+import math
+from pathlib import Path
+from types import SimpleNamespace
+
+import pytest
+
+import cereal.messaging as messaging
+
+from cereal import car
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC
+
+
+BASELINE_SHA = "a80064be4fdf4b8765a5e9dec44d8a5c266f48a8"
+BASELINE_SOURCE_SHA256 = {
+  "opendbc_repo/opendbc/car/tesla/coop_steering.py": "9c9d60bbfae2aaa0d8c1fca203a9fa19a14a19feef5aa89e85ecaa6f6502a9f0",
+  "opendbc_repo/opendbc/car/tesla/carcontroller.py": "1ef3cf646bc4b3c398bd12010e624b90e083426152d632fafb5b2e93fd3d8661",
+}
+BASELINE_FIXTURE = Path(__file__).parent / "fixtures" / "coop_steering_baseline_a80064be.json"
+
+
+def make_params(candidate=CAR.TESLA_MODEL_3, cooperative=True):
+  toggles = SimpleNamespace(tesla_cooperative_steering=cooperative, trailer_load_kg=0.0)
+  return CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
+
+
+def make_car_state(torque=0.0, speed=15.0, angle=0.0, steering_disengage=False):
+  return SimpleNamespace(
+    out=SimpleNamespace(
+      steeringTorque=torque,
+      steeringAngleDeg=angle,
+      steeringDisengage=steering_disengage,
+      vEgo=speed,
+      vEgoRaw=speed,
+      gasPressed=False,
+    ),
+    hands_on_level=0,
+    das_control={"DAS_controlCounter": 0},
+  )
+
+
+def make_control(requested_angle=0.0, lat_active=True):
+  control = car.CarControl.new_message()
+  control.latActive = lat_active
+  control.actuators.steeringAngleDeg = requested_angle
+  return control.as_reader()
+
+
+def make_controller(candidate=CAR.TESLA_MODEL_3, cooperative=True):
+  params = make_params(candidate, cooperative)
+  return CarController(DBC[candidate], params)
+
+
+def run_frame(controller, requested_angle=0.0, torque=0.0, speed=15.0, measured_angle=0.0,
+              lat_active=True, steering_disengage=False, now_nanos=1_000_000_000):
+  return controller.update(
+    make_control(requested_angle, lat_active),
+    make_car_state(torque, speed, measured_angle, steering_disengage),
+    now_nanos,
+    SimpleNamespace(),
+  )
+
+
+def get_limit_info(controller):
+  return SimpleNamespace(**controller.get_steering_limit_info())
+
+
+def legacy_actuator_dict(actuators):
+  return actuators.to_dict()
+
+
+def test_steering_limit_info_defaults_to_invalid():
+  controller = make_controller()
+
+  info = get_limit_info(controller)
+  assert not info.valid
+  assert info.monoTime == 0
+
+
+def test_steering_limit_info_round_trips_through_custom_message():
+  message = messaging.new_message("starpilotCarControl", valid=True)
+  info = message.starpilotCarControl.steeringLimitInfo
+  info.valid = True
+  info.modelLimitErrorDeg = 1.25
+  info.resumeLimitErrorDeg = 0.5
+  info.cooperativeLimitErrorDeg = 2.0
+  info.cooperativeOffsetDeg = -4.5
+  info.monoTime = 1_234_567_890
+  info.combinedLimitErrorDeg = 3.75
+
+  restored = messaging.log_from_bytes(message.to_bytes())
+  restored_info = restored.starpilotCarControl.steeringLimitInfo
+  assert restored_info.valid
+  assert restored_info.modelLimitErrorDeg == 1.25
+  assert restored_info.resumeLimitErrorDeg == 0.5
+  assert restored_info.cooperativeLimitErrorDeg == 2.0
+  assert restored_info.cooperativeOffsetDeg == -4.5
+  assert restored_info.monoTime == 1_234_567_890
+  assert restored_info.combinedLimitErrorDeg == 3.75
+
+
+def test_active_cooperative_controller_reports_diagnostics():
+  controller = make_controller()
+  requested_angle = 20.0
+  now_nanos = 1_234_567_890
+
+  actuators, _ = run_frame(controller, requested_angle, torque=0.9, measured_angle=0.0, now_nanos=now_nanos)
+
+  info = get_limit_info(controller)
+  assert info.valid
+  assert info.monoTime == now_nanos
+  assert info.modelLimitErrorDeg == pytest.approx(abs(requested_angle - controller.apply_angle_last), abs=1e-5)
+  assert info.resumeLimitErrorDeg == pytest.approx(controller.coop_steer.resume_limit_error_deg, abs=1e-5)
+  assert info.cooperativeLimitErrorDeg == pytest.approx(controller.coop_steer.cooperative_limit_error_deg, abs=1e-5)
+  assert info.cooperativeOffsetDeg == pytest.approx(controller.coop_steer.cooperative_offset_deg, abs=1e-5)
+  assert info.combinedLimitErrorDeg == pytest.approx(
+    abs(requested_angle + info.cooperativeOffsetDeg - actuators.steeringAngleDeg), abs=1e-5,
+  )
+  assert info.modelLimitErrorDeg > 2.5
+  assert info.cooperativeOffsetDeg > 0.0
+  assert info.combinedLimitErrorDeg > 2.5
+  errors = (info.modelLimitErrorDeg, info.resumeLimitErrorDeg,
+            info.cooperativeLimitErrorDeg, info.combinedLimitErrorDeg)
+  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
+
+
+def test_cooperative_offset_alone_does_not_become_limiter_error():
+  controller = make_controller()
+  actuators = None
+
+  for frame in range(200):
+    actuators, _ = run_frame(controller, torque=0.9, now_nanos=1_000_000_000 + frame * 10_000_000)
+
+  assert actuators is not None
+  info = get_limit_info(controller)
+  assert info.valid
+  assert info.cooperativeOffsetDeg > 2.5
+  assert info.modelLimitErrorDeg < 2.5
+  assert info.resumeLimitErrorDeg < 2.5
+  assert info.cooperativeLimitErrorDeg < 2.5
+  assert info.combinedLimitErrorDeg < 2.5
+
+
+def test_combined_error_keeps_two_same_direction_small_limits_visible():
+  controller = make_controller()
+  # Prime the resume limiter to the first-stage output for this literal input.
+  controller.coop_steer.reset_resume_state(-0.9954867959022522)
+
+  actuators, _ = run_frame(controller, -2.5, torque=-1.5, speed=12.5, measured_angle=0.0)
+
+  info = get_limit_info(controller)
+  assert info.modelLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
+  assert info.resumeLimitErrorDeg == pytest.approx(0.0, abs=1e-5)
+  assert info.cooperativeLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
+  assert info.modelLimitErrorDeg < 2.5
+  assert info.cooperativeLimitErrorDeg < 2.5
+  assert info.combinedLimitErrorDeg == pytest.approx(3.0090265, abs=1e-5)
+  assert info.combinedLimitErrorDeg > 2.5
+
+
+def test_intervening_100hz_frame_retains_matching_50hz_sample():
+  controller = make_controller()
+  first, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
+  first_info = controller.get_steering_limit_info()
+
+  second, _ = run_frame(controller, -40.0, torque=-1.5, now_nanos=1_010_000_000)
+
+  assert controller.get_steering_limit_info() == first_info
+  assert controller.get_steering_limit_info()["monoTime"] == 1_000_000_000
+
+
+def test_inactive_interval_clears_sample_until_next_steering_update():
+  controller = make_controller()
+  active, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
+  assert get_limit_info(controller).valid
+
+  inactive, _ = run_frame(controller, 8.0, torque=0.9, lat_active=False, now_nanos=1_010_000_000)
+  assert not get_limit_info(controller).valid
+  assert get_limit_info(controller).monoTime == 0
+
+  resumed, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_020_000_000)
+  assert get_limit_info(controller).valid
+  assert get_limit_info(controller).monoTime == 1_020_000_000
+
+
+@pytest.mark.parametrize(("candidate", "cooperative", "steering_disengage"), (
+  (CAR.TESLA_MODEL_3, False, False),
+  (CAR.TESLA_MODEL_Y, True, False),
+  (CAR.TESLA_MODEL_3, True, True),
+))
+def test_diagnostics_invalid_when_not_in_supported_active_path(candidate, cooperative, steering_disengage):
+  controller = make_controller(candidate, cooperative)
+
+  actuators, _ = run_frame(controller, torque=1.5, steering_disengage=steering_disengage)
+
+  info = get_limit_info(controller)
+  assert not info.valid
+  assert info.monoTime == 0
+
+
+def test_actual_actuators_and_steering_can_match_pinned_baseline_fixture():
+  fixture = json.loads(BASELINE_FIXTURE.read_text())
+  assert fixture["metadata"] == {
+    "schemaVersion": 1,
+    "baselineSha": BASELINE_SHA,
+    "baselineSourceSha256": BASELINE_SOURCE_SHA256,
+    "frameCount": 386,
+  }
+
+  candidate = make_controller()
+  for expected in fixture["frames"]:
+    inputs = expected["input"]
+    candidate_actuators, candidate_can = run_frame(
+      candidate,
+      inputs["requestedAngleDeg"],
+      inputs["torqueNm"],
+      inputs["speedMps"],
+      inputs["measuredAngleDeg"],
+      inputs["latActive"],
+      inputs["steeringDisengage"],
+      inputs["nowNanos"],
+    )
+
+    assert legacy_actuator_dict(candidate_actuators) == expected["actuators"]
+    assert [[address, data.hex(), bus] for address, data, bus in candidate_can] == expected["can"]
@@ -0,0 +1,134 @@
+import pytest
+
+from cereal import custom
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.fw_versions import match_fw_to_car
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.fingerprints import FW_VERSIONS
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
+from opendbc.car.tesla.values import CANBUS, CAR, DBC, TeslaSafetyFlags
+
+
+def test_hw1_is_distinct_from_preap_and_does_not_change_can_buses():
+  preap = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  hw1 = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+
+  assert preap.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.teslaPreAP
+  assert hw1.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value
+  assert hw1.radarTimeStepDEPRECATED == pytest.approx(0.125)
+  assert preap.radarTimeStepDEPRECATED == pytest.approx(0.05)
+  assert CANBUS.party == 0 and CANBUS.autopilot_party == 2
+  assert CarState.get_can_parsers(hw1)[Bus.ap_pt].bus == 2
+  assert CarState.get_can_parsers(hw1)[Bus.chassis].message_states[0x211].ignore_alive
+  assert CarState.get_can_parsers(preap)[Bus.party].bus == 0
+
+
+def test_hw1_requires_explicit_alpha_long_for_acceleration():
+  ret = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  hw1 = CarInterface._get_params(ret, CAR.TESLA_MODEL_S_HW1, {0: {0x201: 5}}, [], True, False, False)
+  assert hw1.openpilotLongitudinalControl
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+
+
+def test_ap1_eps_fw_matches_hw1_without_matching_preap():
+  version = FW_VERSIONS[CAR.TESLA_MODEL_S_HW1][(structs.CarParams.Ecu.eps, 0x730, None)][0]
+  fw = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x730, brand="tesla", fwVersion=version)
+  exact, candidates = match_fw_to_car([fw], "", log=False)
+  assert exact and candidates == {CAR.TESLA_MODEL_S_HW1}
+
+
+def test_hw1_display_and_cruise_bytes_do_not_change_preap_signals():
+  # Captured bus-0 DI_state (0x368) from the AP1 route: display 9 MPH, set speed 10 MPH.
+  parser = CANParser("tesla_can", [(0x368, 0)], 0)
+  parser.message_states[0x368].ignore_counter = True
+  frames = [(0x368, bytes.fromhex("84185e3009980a2d"), 0)]
+  parser.update([(1_000_000_000, frames)])
+  parser.update([(2_000_000_000, frames)])
+  state = parser.vl["DI_state"]
+  assert state["DI_hw1DigitalSpeed"] == 9
+  assert state["DI_hw1CruiseSet"] == 10
+  assert state["DI_digitalSpeed"] == 10
+  assert state["DI_cruiseSet"] != 10
+
+
+def test_hw1_packer_emits_bus_zero_with_matching_checksums():
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.party])
+  tesla_can = TeslaCANRaven({CANBUS.party: packer})
+  for msg, expected_addr, checksum_index in (
+    (tesla_can.create_steering_control(0, 0, False), 0x488, 3),
+    (tesla_can.create_longitudinal_command(13, 0, 0, 10, False, False), 0x2b9, 7),
+  ):
+    addr, data, bus = msg
+    assert addr == expected_addr and bus == 0
+    assert data[checksum_index] == TeslaCANRaven.checksum(addr, data[:checksum_index])
+
+
+def test_hw1_cancel_clears_acceleration_and_does_not_request_max_speed():
+  cp = CarInterface._get_params(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1),
+                                CAR.TESLA_MODEL_S_HW1, {0: {}}, [], True, False, False)
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  state.out.vEgo = 10.
+  cc = structs.CarControl.new_message()
+  cc.longActive = True
+  cc.cruiseControl.cancel = True
+  cc.actuators.accel = 2.
+  _, sends = controller.update(cc.as_reader(), state, 0, None)
+  _, data, bus = next(msg for msg in sends if msg[0] == 0x2b9)
+  assert bus == 0
+  parser = CANParser("tesla_can", [(0x2b9, 0)], 0)
+  parser.update([(1_000_000_000, [(0x2b9, data, bus)])])
+  decoded = parser.vl["DAS_control"]
+  assert decoded["DAS_accState"] == 13
+  assert decoded["DAS_accelMin"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_accelMax"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_setSpeed"] != 200
+
+
+def test_hw1_carstate_uses_ap1_powertrain_and_chassis():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  frames = [
+    (0x155, bytes.fromhex("000000000005e308"), 0),  # ESP speed 15.07 kph
+    (0x368, bytes.fromhex("84185e3009980a2d"), 0),
+    (0x201, bytes.fromhex("5444008df2"), 0),
+  ]
+  for parser in parsers.values():
+    for addr in (0x155, 0x368, 0x201):
+      _ = parser.vl[addr]
+      parser.message_states[addr].ignore_counter = True
+      parser.message_states[addr].ignore_checksum = True
+    parser.update([(1_000_000_000, frames)])
+    parser.update([(2_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  ret, _ = state.update(parsers, None)
+  assert not ret.cruiseState.enabled
+  assert ret.cruiseState.speed == pytest.approx(10 * 0.44704)
+  assert ret.vEgoRaw == pytest.approx(15.07 / 3.6)
+  assert not ret.seatbeltUnlatched
+
+  # A stale belt frame cannot allow an engagement indefinitely.
+  for parser in parsers.values():
+    parser.update([(4_000_000_000, [])])
+  ret, _ = state.update(parsers, None)
+  assert ret.seatbeltUnlatched
+
+
+def test_hw1_can_use_rcm_buckle_when_sdm1_is_absent():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.chassis])
+  addr, data, bus = packer.make_can_msg("RCM_status", 0, {"RCM_buckleDriverStatus": 1})
+  assert addr == 0x211 and bus == 0
+  frames = [(addr, data, bus)]
+  for parser in parsers.values():
+    _ = parser.vl["RCM_status"]
+    parser.update([(1_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  out, _ = state.update(parsers, None)
+  assert not out.seatbeltUnlatched
@@ -0,0 +1,155 @@
+from types import SimpleNamespace
+
+import pytest
+
+from cereal import custom
+from opendbc.can import CANPacker
+from opendbc.car import Bus, gen_empty_fingerprint
+from opendbc.car.tesla.carstate import ButtonType, CarState
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CANBUS, CAR, TeslaFlags, TeslaSafetyFlags
+
+
+def screen_params(candidate=CAR.TESLA_MODEL_3, enabled=True, bus=CANBUS.vehicle, length=8, alpha_long=False):
+  fingerprint = gen_empty_fingerprint()
+  if bus is not None:
+    fingerprint[bus][0x3DF] = length
+  toggles = SimpleNamespace(tesla_aol_screen_tap_requested=enabled, trailer_load_kg=0.0)
+  return CarInterface.get_params(candidate, fingerprint, [], alpha_long, False, False, toggles)
+
+
+@pytest.mark.parametrize("candidate", tuple(CAR))
+@pytest.mark.parametrize("enabled", (False, True))
+def test_detection_and_safety_flags_are_model_3_y_only(candidate, enabled):
+  cp = screen_params(candidate, enabled)
+  detected = candidate in (CAR.TESLA_MODEL_3, CAR.TESLA_MODEL_Y)
+  assert bool(cp.flags & TeslaFlags.HAS_VEHICLE_BUS) == detected
+  assert bool(cp.flags & TeslaFlags.AOL_SCREEN_BUTTON) == (detected and enabled)
+  assert any(config.safetyParam & TeslaSafetyFlags.AOL_SCREEN_BUTTON for config in cp.safetyConfigs) == (detected and enabled)
+
+
+@pytest.mark.parametrize(("bus", "length"), ((None, 8), (0, 8), (2, 8), (1, 7), (1, 4)))
+def test_harness_requires_correct_bus_and_length(bus, length):
+  cp = screen_params(bus=bus, length=length)
+  assert not cp.flags & (TeslaFlags.HAS_VEHICLE_BUS | TeslaFlags.AOL_SCREEN_BUTTON)
+  assert not cp.safetyConfigs[0].safetyParam & TeslaSafetyFlags.AOL_SCREEN_BUTTON
+  assert Bus.adas not in CarState.get_can_parsers(cp)
+
+
+@pytest.mark.parametrize("alpha_long", (False, True))
+def test_gesture_does_not_select_longitudinal(alpha_long):
+  baseline = screen_params(enabled=False, alpha_long=alpha_long)
+  enabled = screen_params(alpha_long=alpha_long)
+  assert enabled.openpilotLongitudinalControl == baseline.openpilotLongitudinalControl
+  assert enabled.pcmCruise == baseline.pcmCruise
+  assert enabled.safetyConfigs[0].safetyParam == baseline.safetyConfigs[0].safetyParam | TeslaSafetyFlags.AOL_SCREEN_BUTTON
+
+
+@pytest.mark.parametrize("enabled", (False, True))
+def test_screen_brake_safety_flag_requires_the_gesture_feature(enabled):
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[1][0x3DF] = 8
+  toggles = SimpleNamespace(tesla_aol_screen_tap_requested=enabled, tesla_aol_screen_brake_disengage_requested=True,
+                           trailer_load_kg=0.0)
+  cp = CarInterface.get_params(CAR.TESLA_MODEL_3, fingerprint, [], False, False, False, toggles)
+  assert bool(cp.safetyConfigs[0].safetyParam & TeslaSafetyFlags.AOL_SCREEN_DISENGAGE_ON_BRAKE) == enabled
+
+
+def test_parser_only_added_with_setting_and_detected_addon():
+  assert Bus.adas not in CarState.get_can_parsers(screen_params(enabled=False))
+  parser = CarState.get_can_parsers(screen_params())[Bus.adas]
+  assert parser.bus == CANBUS.vehicle
+  assert parser.message_states[0x3DF].ignore_alive
+
+
+@pytest.mark.parametrize(("counts", "expected"), (
+  ([0, 3, 3, 3, 0, 0, 3, 0], [True, False, True, False]),
+  ([3, 3, 0, 3, 0], [False, True, False]),
+  ([0, 1, 2, 4, 5, 0], []),
+))
+def test_touch_edges_and_startup_baseline(counts, expected):
+  cp = screen_params()
+  fp_cp = custom.StarPilotCarParams.new_message()
+  cs = CarState(cp, fp_cp)
+  parser = CarState.get_can_parsers(cp)[Bus.adas]
+  packer = CANPacker("tesla_model3_vehicle")
+  events = []
+  for i, count in enumerate(counts):
+    parser.update([[int((i + 1) * 0.5e9), [packer.make_can_msg("UI_status2", CANBUS.vehicle, {"UI_activeTouchPoints": count})]]])
+    events.extend(cs.update_screen_button(parser))
+  assert [event.pressed for event in events if event.type == ButtonType.lkas] == expected
+  parser.update([[60_000_000_000, []]])
+  assert cs.update_screen_button(parser) == []
+  assert parser.can_valid
+  assert not parser.bus_timeout
+
+
+def test_multiple_touch_edges_in_one_update_are_not_lost():
+  cp = screen_params()
+  fp_cp = custom.StarPilotCarParams.new_message()
+  cs = CarState(cp, fp_cp)
+  parser = CarState.get_can_parsers(cp)[Bus.adas]
+  packer = CANPacker("tesla_model3_vehicle")
+  parser.update([[i * 10_000_000, [packer.make_can_msg("UI_status2", 1, {"UI_activeTouchPoints": count})]]
+                 for i, count in enumerate((0, 3, 0, 3, 0), 1)])
+  assert [event.pressed for event in cs.update_screen_button(parser) if event.type == ButtonType.lkas] == [True, False, True, False]
+
+
+@pytest.mark.parametrize("length", (0, 3, 4, 5, 6, 7, 9, 12))
+def test_malformed_touch_frames_do_not_produce_button_events(length):
+  cp = screen_params()
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  parser = CarState.get_can_parsers(cp)[Bus.adas]
+  packer = CANPacker("tesla_model3_vehicle")
+  parser.update([[1_000_000_000, [packer.make_can_msg("UI_status2", 1, {"UI_activeTouchPoints": 0})]]])
+  cs.update_screen_button(parser)
+  address, data, bus = packer.make_can_msg("UI_status2", 1, {"UI_activeTouchPoints": 3})
+  parser.update([[2_000_000_000, [(address, data[:length].ljust(length, b"\x00"), bus)]]])
+  assert cs.update_screen_button(parser) == []
+  assert cs.active_touch_points == 0
+  parser.update([[3_000_000_000, [(address, data, bus)]]])
+  assert any(event.type == ButtonType.lkas and event.pressed for event in cs.update_screen_button(parser))
+
+
+def test_button_is_appended_without_changing_cruise_state():
+  cp = screen_params()
+  fp_cp = custom.StarPilotCarParams.new_message()
+  cs = CarState(cp, fp_cp)
+  parsers = CarState.get_can_parsers(cp)
+  parsers[Bus.party].vl["DI_state"]["DI_cruiseState"] = 0
+  packer = CANPacker("tesla_model3_vehicle")
+  for count in (0, 3):
+    parsers[Bus.adas].update([[1_000_000_000, [packer.make_can_msg("UI_status2", 1, {"UI_activeTouchPoints": count})]]])
+    ret, _ = cs.update(parsers, SimpleNamespace())
+  assert any(event.type == ButtonType.lkas and event.pressed for event in ret.buttonEvents)
+  assert not ret.cruiseState.enabled
+  assert not ret.cruiseState.available
+
+
+def test_addon_stalk_cancel_events_and_held_state():
+  cp = screen_params()
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker("tesla_model3_vehicle")
+  events = []
+  for i, status in enumerate((0, 1, 1, 2, 0, 3, 4, 0, 2, 0), 1):
+    parsers[Bus.adas].update([[i * 10_000_000, [packer.make_can_msg("SCCM_rightStalk", 1, {"SCCM_rightStalkStatus": status})]]])
+    ret, fp_ret = cs.update(parsers, SimpleNamespace())
+    assert fp_ret.cancelPressed == (status in (1, 2))
+    events.extend(ret.buttonEvents)
+  assert [event.pressed for event in events if event.type == ButtonType.cancel] == [True, False, True, False]
+  parsers[Bus.adas].update([[60_000_000_000, []]])
+  assert parsers[Bus.adas].can_valid
+  assert not parsers[Bus.adas].bus_timeout
+
+
+@pytest.mark.parametrize(("bus", "length"), ((0, 3), (2, 3), (1, 2), (1, 4), (1, 8)))
+def test_wrong_bus_or_length_stalk_frames_do_not_cancel(bus, length):
+  cp = screen_params()
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  parser = CarState.get_can_parsers(cp)[Bus.adas]
+  packer = CANPacker("tesla_model3_vehicle")
+  address, data, _ = packer.make_can_msg("SCCM_rightStalk", bus, {"SCCM_rightStalkStatus": 1})
+  parser.update([[1_000_000_000, [(address, data[:length].ljust(length, b"\x00"), bus)]]])
+  assert cs.update_screen_button(parser) == []
+  assert not cs.screen_cancel_pressed
@@ -70,6 +70,16 @@ class CAR(Platforms):
      Bus.radar: 'tesla_radar_bosch_generated',
    },
  )
+  TESLA_MODEL_S_HW1 = TeslaPlatformConfig(
+    [CarDocs("Tesla Model S (with HW1) 2014-16", "All", support_type=SupportType.COMMUNITY, support_link="#community")],
+    CarSpecs(mass=2100., wheelbase=2.960, steerRatio=15.0),
+    {
+      Bus.chassis: 'tesla_can',
+      Bus.party: 'tesla_can',
+      Bus.pt: 'tesla_can',
+      Bus.radar: 'tesla_radar_bosch_generated',
+    },
+  )


 FW_QUERY_CONFIG = FwQueryConfig(
@@ -125,15 +135,23 @@ class CarControllerParams:
  ACCEL_MAX = 2.0    # m/s^2
  ACCEL_MIN = -3.48  # m/s^2
  JERK_LIMIT_MAX = 4.9  # m/s^3, ACC faults at 5.0
+  JERK_LIMIT_MIN = -4.9  # m/s^3, ACC faults at 5.0
+  JERK_RAMP_RATE = JERK_LIMIT_MAX * 0.002


 class TeslaSafetyFlags(IntFlag):
  LONG_CONTROL = 1
+  FLAG_EXTERNAL_PANDA = 4
+  FLAG_HW1 = 8
  COOP_STEERING = 256
+  AOL_SCREEN_BUTTON = 512
+  AOL_SCREEN_DISENGAGE_ON_BRAKE = 1024


 class TeslaFlags(IntFlag):
  LONG_CONTROL = 1
+  HAS_VEHICLE_BUS = 2
+  AOL_SCREEN_BUTTON = 4


 class CruiseButtons:
@@ -157,5 +175,7 @@ class CruiseButtons:

 DBC = CAR.create_dbc_map()

+LEGACY_CARS = (CAR.TESLA_MODEL_S_HW1,)
+
 STEER_THRESHOLD = 1
 STEER_DISENGAGE_THRESHOLD = 5.0
@@ -35,6 +35,8 @@ non_tested_cars = [
  GM.CHEVROLET_MALIBU_ASCM,
  GM.CHEVROLET_MALIBU_SDGM,
  GM.CHEVROLET_SUBURBAN,
+  GM.CHEVROLET_SUBURBAN_ASCM,
+  GM.CHEVROLET_SUBURBAN_CAMERA,
  GM.CHEVROLET_TRAX,
  GM.CHEVROLET_VOLT_ASCM,
  GM.CHEVROLET_VOLT_CAMERA,
@@ -108,6 +110,7 @@ non_tested_cars = [
  TOYOTA.TOYOTA_RAV4H,

  # No recorded routes yet
+  VOLVO.VOLVO_V40,
  VOLVO.VOLVO_XC40_RECHARGE,
  VOLVO.VOLVO_S60_RECHARGE,
  VOLVO.POLESTAR_2,
@@ -2,7 +2,7 @@ from types import SimpleNamespace

 import pytest
 from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, can_fingerprint
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, _normalize_gm_suburban_camera_candidate, can_fingerprint
 from opendbc.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -116,3 +116,14 @@ class TestCanFingerprint:
    candidate = _apply_starpilot_access_policy("CHEVROLET_VOLT_CC", SimpleNamespace(block_user=True))

    assert candidate == "CHEVROLET_VOLT_CC"
+
+  def test_gm_suburban_camera_variant_uses_vin_and_camera_bus_signature(self):
+    fingerprints = {
+      0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6, 304: 1, 320: 3},
+      2: {0x24b: 8, 0x64b: 8},
+    }
+
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate("GMC_YUKON", fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKCKC5KR255194") is None
+    assert _normalize_gm_suburban_camera_candidate(None, {0: fingerprints[0], 2: {0x320: 3}}, "1GNSKJKJXKR148371") is None
@@ -26,6 +26,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TESLA_MODEL_3" = [nan, 2.5, nan]
 "TESLA_MODEL_Y" = [nan, 2.5, nan]
 "TESLA_MODEL_X" = [nan, 2.5, nan]
+"TESLA_MODEL_S_HW1" = [nan, 2.5, nan]

 # Guess
 "VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
@@ -145,6 +146,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
 "VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
 "VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]
+"VOLVO_V40" = [1.5, 1.5, 0.1]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -90,6 +90,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_MALIBU" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_ASCM" = "CHEVROLET_VOLT"
 "CHEVROLET_MALIBU_SDGM" = "CHEVROLET_VOLT"
+"CHEVROLET_SUBURBAN_ASCM" = "CHEVROLET_SUBURBAN"
+"CHEVROLET_SUBURBAN_CAMERA" = "CHEVROLET_SUBURBAN"
 "HOLDEN_ASTRA" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CC" = "CHEVROLET_VOLT"
 "CHEVROLET_VOLT_CAMERA" = "CHEVROLET_VOLT"
@@ -10,8 +10,8 @@ from opendbc.car.secoc import add_mac, build_sync_mac
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.values import CAR, MIN_ACC_SPEED, NO_STOP_TIMER_CAR, PEDAL_TRANSITION, TSS2_CAR, \
-                                        CarControllerParams, ToyotaFlags, \
-                                        UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS
+                                        CarControllerParams, ToyotaFlags, ToyotaSafetyFlags, \
+                                        UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS, uses_toyota_auto_hold_aeb
 from opendbc.can import CANPacker

 Ecu = structs.CarParams.Ecu
@@ -40,11 +40,14 @@ TOYOTA_NO_LEAD_CRUISE_SIGN_FLIP_MIN_SET_SPEED_ERROR = 0.35  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_BLEND_SPEED = 5.0  # m/s
 TOYOTA_RAV4_LAUNCH_PEDAL_SCALE = 0.11
 TOYOTA_RAV4_LOW_SPEED_PEDAL_SCALE = 0.23
+TOYOTA_AUTO_HOLD_ACCEL = -1.0
+TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES = 100

 # LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
-MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
+MAX_STEER_RATE_FRAMES = 17  # tx control frames needed before torque can be cut
+COROLLA_MAX_STEER_RATE = 80

 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
@@ -65,6 +68,11 @@ def is_ths_hybrid(CP) -> bool:
  return CP.carFingerprint in LEGACY_PRIUS_CAR or is_camry_hybrid(CP)


+def uses_rav4_hybrid_sdsu_longitudinal(CP) -> bool:
+  return bool(CP.carFingerprint == CAR.TOYOTA_RAV4H and CP.openpilotLongitudinalControl and
+              CP.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.LONG_FILTER.value)
+
+
 def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
  highlander_sdsu = (
    CP.carFingerprint == CAR.TOYOTA_HIGHLANDER and
@@ -75,6 +83,14 @@ def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
  ) or highlander_sdsu)


+def get_toyota_lat_active(requested_active: bool, steering_torque: float) -> bool:
+  return requested_active and abs(steering_torque) < MAX_USER_TORQUE
+
+
+def get_toyota_steer_rate_limit(car_fingerprint) -> int:
+  return COROLLA_MAX_STEER_RATE if car_fingerprint == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
+
+
 def supports_toyota_auto_hold(CP, auto_hold_enabled: bool) -> bool:
  return (
    auto_hold_enabled and
@@ -96,7 +112,7 @@ def get_long_tune(CP, params):
  kiV = [0.5, 0.25]
  k_f = 1.0

-  if is_ths_hybrid(CP):
+  if is_ths_hybrid(CP) or uses_rav4_hybrid_sdsu_longitudinal(CP):
    k_f = 0.8 if CP.carFingerprint in LEGACY_PRIUS_CAR else 1.0
  elif CP.carFingerprint not in TSS2_CAR:
    kiBP = [0., 5., 35.]
@@ -242,6 +258,7 @@ class CarController(CarControllerBase):
    self.standstill_req = False
    self.permit_braking = True
    self.steer_rate_counter = 0
+    self.steer_rate_limit = get_toyota_steer_rate_limit(self.CP.carFingerprint)
    self.distance_button = 0

    # *** start long control state ***
@@ -266,7 +283,7 @@ class CarController(CarControllerBase):
    self._brake_hold_counter = 0

  def _compute_interceptor_gas_cmd(self, CC, CS):
-    if not (self.CP.enableGasInterceptorDEPRECATED and self.CP.openpilotLongitudinalControl and CC.longActive):
+    if self.brake_hold_active or not (self.CP.enableGasInterceptorDEPRECATED and self.CP.openpilotLongitudinalControl and CC.longActive):
      return 0.0

    if CS.out.standstill:
@@ -309,8 +326,24 @@ class CarController(CarControllerBase):

    self.last_standstill = CS.out.standstill

+  def update_auto_hold_state(self, CS: structs.CarState, cancel_requested: bool = False,
+                             activation_frames: int = TOYOTA_AUTO_HOLD_ACTIVATION_FRAMES):
+    brake_hold_allowed = (not cancel_requested and CS.out.standstill and CS.out.cruiseState.available and
+                          not CS.out.gasPressed and not CS.out.cruiseState.enabled and
+                          CS.out.gearShifter not in (PARK, REVERSE))
+
+    if not brake_hold_allowed:
+      self.reset_auto_hold_state()
+    elif not self.brake_hold_active:
+      if CS.out.brakePressed:
+        self._brake_hold_counter += 1
+        self.brake_hold_active = self._brake_hold_counter > activation_frames
+      else:
+        self._brake_hold_counter = 0
+
+    return self.brake_hold_active
+
  def create_auto_brake_hold_messages(self, CS: structs.CarState, brake_hold_allowed_timer: int = 100):
-    can_sends = []
    brake_hold_allowed = (CS.out.standstill and CS.out.cruiseState.available and
                          not CS.out.gasPressed and not CS.out.cruiseState.enabled and
                          CS.out.gearShifter not in (PARK, REVERSE))
@@ -323,16 +356,21 @@ class CarController(CarControllerBase):
      self.brake_hold_active = False

    if self.frame % 2 == 0:
-      can_sends.append(toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active))
+      return [toyotacan.create_brake_hold_command(self.packer, self.frame, CS.pre_collision_2, self.brake_hold_active)]
+    return []

-    return can_sends
+  def reset_auto_hold_state(self):
+    if self.brake_hold_active and not uses_toyota_auto_hold_aeb(self.CP):
+      self.standstill_req = False
+    self._brake_hold_counter = 0
+    self.brake_hold_active = False

  def update(self, CC, CS, now_nanos, starpilot_toggles):
    actuators = CC.actuators
    stopping = actuators.longControlState == LongCtrlState.stopping
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel
-    lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
+    lat_active = get_toyota_lat_active(CC.latActive, CS.out.steeringTorque)

    if len(CC.orientationNED) == 3:
      self.pitch.update(CC.orientationNED[1])
@@ -359,7 +397,7 @@ class CarController(CarControllerBase):

    # >100 degree/sec steering fault prevention
    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
-      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
+      abs(CS.out.steeringRateDeg) >= self.steer_rate_limit, lat_active,
      self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
    )

@@ -423,10 +461,12 @@ class CarController(CarControllerBase):

    self._update_standstill_request(CC, CS, actuators, starpilot_toggles)
    if supports_toyota_auto_hold(self.CP, getattr(starpilot_toggles, "toyota_auto_hold", False)):
-      can_sends.extend(self.create_auto_brake_hold_messages(CS))
-    elif self.brake_hold_active:
-      self._brake_hold_counter = 0
-      self.brake_hold_active = False
+      if uses_toyota_auto_hold_aeb(self.CP):
+        can_sends.extend(self.create_auto_brake_hold_messages(CS))
+      else:
+        self.update_auto_hold_state(CS, pcm_cancel_cmd)
+    else:
+      self.reset_auto_hold_state()

    interceptor_gas_cmd = self._compute_interceptor_gas_cmd(CC, CS)

@@ -534,6 +574,11 @@ class CarController(CarControllerBase):

        pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))

+        if self.brake_hold_active and not uses_toyota_auto_hold_aeb(self.CP):
+          pcm_accel_cmd = TOYOTA_AUTO_HOLD_ACCEL
+          self.permit_braking = True
+          self.standstill_req = True
+
        main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
        can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
                                                        CS.acc_type, fcw_alert, self.distance_button,
@@ -9,6 +9,7 @@ from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, ToyotaStarPilotFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
                                                  SECOC_CAR, LEGACY_PRIUS_CAR
+from opendbc.safety import ALTERNATIVE_EXPERIENCE

 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -90,7 +91,10 @@ class CarState(CarStateBase):
    self.has_can_filter = self.FPCP.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
    self.has_SDSU = self.FPCP.flags & ToyotaStarPilotFlags.SMART_DSU.value
    self.has_ZSS = self.FPCP.flags & ToyotaStarPilotFlags.ZSS.value
-    self.auto_brake_hold = bool(self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value)
+    self.auto_brake_hold = bool(
+      self.CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value and
+      getattr(self.CP, "alternativeExperience", 0) & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    )
    self.pre_collision_2 = {}

  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
@@ -314,7 +318,8 @@ class CarState(CarStateBase):
    if CP.carFingerprint in DISTANCE_BUTTON_CAR:
      pt_messages.append(("PCM_CRUISE_4", 1))

-    if CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value:
+    if (CP.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value and
+        getattr(CP, "alternativeExperience", 0) & ALTERNATIVE_EXPERIENCE.ALLOW_AEB):
      cam_messages.append(("PRE_COLLISION_2", 50))

    return {
@@ -1,10 +1,11 @@
 from opendbc.car import Bus, structs, get_safety_config, uds
 from opendbc.car.toyota.carstate import CarState
-from opendbc.car.toyota.carcontroller import CarController
+from opendbc.car.toyota.carcontroller import CarController, uses_rav4_hybrid_sdsu_longitudinal
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
                                                  MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
-                                                  ToyotaSafetyFlags, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS
+                                                  ToyotaSafetyFlags, LEGACY_PRIUS_CAR, TOYOTA_AUTO_HOLD_CARS, \
+                                                  uses_toyota_auto_hold_aeb
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
@@ -101,7 +102,7 @@ class CarInterface(CarInterfaceBase):
      # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf
      stop_and_go = candidate != CAR.TOYOTA_AVALON

-    elif candidate in (CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME):
+    elif candidate in ANGLE_CONTROL_CAR:
      ret.lateralTuning.init('pid')
      ret.lateralTuning.pid.kiBP = [0.0]
      ret.lateralTuning.pid.kpBP = [0.0]
@@ -164,8 +165,10 @@ class CarInterface(CarInterfaceBase):
      ret.safetyConfigs[0].safetyParam |= ToyotaSafetyFlags.GAS_INTERCEPTOR.value

    toyota_auto_hold = Params(return_defaults=True).get_bool("ToyotaAutoHold")
-    if toyota_auto_hold and candidate in TOYOTA_AUTO_HOLD_CARS:
-      ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    if toyota_auto_hold and ret.openpilotLongitudinalControl and candidate in TOYOTA_AUTO_HOLD_CARS:
+      ret.alternativeExperience |= (ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+                                    if uses_toyota_auto_hold_aeb(ret)
+                                    else ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD)
      ret.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value

    if not ret.openpilotLongitudinalControl:
@@ -173,7 +176,8 @@ class CarInterface(CarInterfaceBase):

    # min speed to enable ACC. if car can do stop and go, then set enabling speed
    # to a negative value, so it won't matter.
-    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED
+    rav4_hybrid_sdsu_long_defaults = uses_rav4_hybrid_sdsu_longitudinal(ret)
+    ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED or rav4_hybrid_sdsu_long_defaults) else MIN_ACC_SPEED

    prius_long_defaults = candidate in LEGACY_PRIUS_CAR and ret.openpilotLongitudinalControl
    camry_hybrid_long_defaults = (candidate == CAR.TOYOTA_CAMRY and ret.openpilotLongitudinalControl and
@@ -190,7 +194,7 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & ToyotaFlags.HYBRID.value:
        ret.longitudinalActuatorDelay = 0.05

-    if camry_hybrid_long_defaults:
+    if camry_hybrid_long_defaults or rav4_hybrid_sdsu_long_defaults:
      # The THS eCVT responds much faster than the legacy non-TSS2 ICE tune.
      ret.longitudinalActuatorDelay = 0.05
      ret.vEgoStopping = 0.25
@@ -6,11 +6,14 @@ from hypothesis import given, settings, strategies as st
 from opendbc.car import Bus, structs
 from opendbc.can import CANPacker, CANParser
 from opendbc.car.structs import CarParams
+from opendbc.car.lateral import common_fault_avoidance
 from opendbc.car.fw_versions import build_fw_dict, match_fw_to_car
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.carcontroller import CarController, get_camry_hybrid_feedforward, get_long_tune, get_prius_feedforward, \
                                             get_prius_positive_feedforward_scale, \
                                             get_rav4_interceptor_pedal_scale, \
+                                             get_toyota_lat_active, get_toyota_steer_rate_limit, \
+                                             MAX_STEER_RATE, MAX_STEER_RATE_FRAMES, MAX_USER_TORQUE, \
                                             limit_interceptor_pcm_accel, \
                                             limit_interceptor_stopping_accel, limit_no_lead_cruise_sign_flip, \
                                             limit_prius_stopping_accel, should_bypass_toyota_long_pid, supports_toyota_auto_hold, \
@@ -22,6 +25,7 @@ from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SP
 from opendbc.car.toyota.values import CAR, DBC, MIN_ACC_SPEED, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
                                                  FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
                                                  ToyotaFlags, ToyotaSafetyFlags, ToyotaStarPilotFlags, TOYOTA_AUTO_HOLD_CARS, \
+                                                  uses_toyota_auto_hold_aeb, \
                                                  get_platform_codes
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
@@ -81,11 +85,48 @@ class TestToyotaInterfaces:
      SimpleNamespace(force_torque_controller=True, nnff=False, nnff_lite=False),
    )

-    assert default_params.lateralTuning.which() == "pid"
+    assert default_params.lateralTuning.which() == "torque"
    assert forced_params.lateralTuning.which() == "torque"
+    assert default_params.lateralTuning.to_dict() == forced_params.lateralTuning.to_dict()
    assert forced_params.lateralTuning.torque.latAccelFactor == pytest.approx(1.7)
    assert forced_params.lateralTuning.torque.friction == pytest.approx(0.14)

+  @pytest.mark.parametrize("candidate", list(CAR))
+  def test_toyota_default_controller_preserves_native_angle_path(self, candidate):
+    fingerprint = {bus: {} for bus in range(8)}
+    default_params = CarInterface.get_params(
+      candidate, fingerprint, [], False, False, False,
+      SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+    forced_params = CarInterface.get_params(
+      candidate, fingerprint, [], False, False, False,
+      SimpleNamespace(force_torque_controller=True, nnff=False, nnff_lite=False),
+    )
+
+    if candidate in ANGLE_CONTROL_CAR:
+      assert default_params.steerControlType == CarParams.SteerControlType.angle
+      assert default_params.lateralTuning.which() == "pid"
+      assert default_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.LTA.value
+    else:
+      assert default_params.steerControlType == CarParams.SteerControlType.torque
+      assert default_params.lateralTuning.which() == "torque"
+      assert not default_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.LTA.value
+
+    assert default_params.to_dict() == forced_params.to_dict()
+
+  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2022, CAR.TOYOTA_RAV4_PRIME])
+  @pytest.mark.parametrize("eps_version", [b'\x028965B0R01400', b'8965B42181\x00\x00\x00\x00\x00\x00', b'8965B0R01200'])
+  def test_rav4_rack_variants_default_to_torque(self, candidate, eps_version):
+    params = CarInterface.get_params(
+      candidate, {bus: {} for bus in range(8)}, [CarParams.CarFw(ecu=Ecu.eps, fwVersion=eps_version)],
+      False, False, False,
+      SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+
+    assert params.lateralTuning.which() == "torque"
+    assert params.steerActuatorDelay == pytest.approx(0.12)
+    assert params.steerControlType == CarParams.SteerControlType.torque
+
  def test_prius_force_torque_controller_preserves_vehicle_tune(self):
    fingerprint = {bus: {} for bus in range(8)}
    car_fw = [CarParams.CarFw(ecu=Ecu.eps, fwVersion=b'8965B47050\x00\x00\x00\x00\x00\x00')]
@@ -189,15 +230,23 @@ class TestToyotaInterfaces:
      if car_model in TSS2_CAR and car_model not in SECOC_CAR:
        assert dbc[Bus.pt] == "toyota_nodsu_pt_generated"

-  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_CAMRY_TSS2, CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H])
-  def test_auto_hold_sets_flag_on_supported_toyota(self, candidate):
+  @pytest.mark.parametrize("candidate,hybrid", [
+    (CAR.TOYOTA_CAMRY_TSS2, False),
+    (CAR.TOYOTA_RAV4, False),
+    (CAR.TOYOTA_RAV4H, True),
+    (CAR.TOYOTA_RAV4_TSS2, False),
+    (CAR.TOYOTA_RAV4_TSS2, True),
+    (CAR.TOYOTA_COROLLA_TSS2, True),
+  ])
+  def test_auto_hold_sets_flag_on_supported_toyota(self, candidate, hybrid):
    params = Params()
    try:
      params.put_bool("ToyotaAutoHold", True)
      car_params = CarInterface.get_params(
        candidate,
-        {bus: {} for bus in range(8)},
-        [],
+        {bus: ({0x2FF: 8} if candidate in (CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H) and bus == 0 else {})
+         for bus in range(8)},
+        [CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")] if hybrid else [],
        alpha_long=False,
        is_release=False,
        docs=False,
@@ -207,21 +256,36 @@ class TestToyotaInterfaces:
      params.remove("ToyotaAutoHold")

    assert car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
-    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    legacy_hold = candidate == CAR.TOYOTA_CAMRY_TSS2 or (candidate == CAR.TOYOTA_RAV4_TSS2 and hybrid)
+    assert uses_toyota_auto_hold_aeb(car_params) == legacy_hold
+    if legacy_hold:
+      assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+      assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+    else:
+      assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
+      assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB

    can_parsers = CarState.get_can_parsers(car_params)
    car_state = CarState(car_params, SimpleNamespace(flags=0))
    car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
-    assert "PRE_COLLISION_2" in can_parsers[Bus.cam].vl
+    assert (0x344 in can_parsers[Bus.cam].vl) == legacy_hold
+    assert car_state.auto_brake_hold == legacy_hold

-  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_CAMRY_TSS2, CAR.TOYOTA_RAV4, CAR.TOYOTA_RAV4H])
-  def test_auto_hold_is_disabled_by_default(self, candidate):
+  @pytest.mark.parametrize("candidate,hybrid", [
+    (CAR.TOYOTA_CAMRY_TSS2, False),
+    (CAR.TOYOTA_RAV4, False),
+    (CAR.TOYOTA_RAV4H, True),
+    (CAR.TOYOTA_RAV4_TSS2, False),
+    (CAR.TOYOTA_RAV4_TSS2, True),
+    (CAR.TOYOTA_RAV4_TSS2_2022, True),
+  ])
+  def test_auto_hold_is_disabled_by_default(self, candidate, hybrid):
    params = Params()
    params.remove("ToyotaAutoHold")
    car_params = CarInterface.get_params(
      candidate,
      {bus: {} for bus in range(8)},
-      [],
+      [CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")] if hybrid else [],
      alpha_long=False,
      is_release=False,
      docs=False,
@@ -229,7 +293,9 @@ class TestToyotaInterfaces:
    )

    assert not car_params.flags & ToyotaFlags.AUTO_BRAKE_HOLD.value
+    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.TOYOTA_AUTO_HOLD
    assert not car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALLOW_AEB
+    assert 0x344 not in CarState.get_can_parsers(car_params)[Bus.cam].vl

  def test_prius_openpilot_long_uses_hybrid_long_defaults(self):
    car_params = CarInterface.get_params(
@@ -732,6 +798,44 @@ class TestToyotaFingerprint:


 class TestToyotaCarController:
+  @pytest.mark.parametrize("driver_torque", [-191, -117, -99, 99, 117, 191])
+  def test_toyota_assisting_driver_keeps_lateral_active(self, driver_torque):
+    assert get_toyota_lat_active(True, driver_torque)
+
+  @pytest.mark.parametrize("driver_torque", [-MAX_USER_TORQUE, MAX_USER_TORQUE, MAX_USER_TORQUE + 1])
+  def test_toyota_high_driver_torque_still_disables_lateral(self, driver_torque):
+    assert not get_toyota_lat_active(True, driver_torque)
+
+  def test_toyota_inactive_request_stays_inactive(self):
+    assert not get_toyota_lat_active(False, 0)
+
+  def test_toyota_assisting_driver_retains_rate_fault_protection(self):
+    counter = 0
+    requests = []
+    for _ in range(36):
+      counter, request = common_fault_avoidance(
+        150 >= MAX_STEER_RATE, get_toyota_lat_active(True, 117), counter, MAX_STEER_RATE_FRAMES,
+      )
+      requests.append(request)
+    assert requests == ([True] * 17 + [False]) * 2
+
+  @pytest.mark.parametrize("candidate", list(CAR))
+  def test_steer_rate_margin_is_corolla_only(self, candidate):
+    expected = 80 if candidate == CAR.TOYOTA_COROLLA_TSS2 else MAX_STEER_RATE
+    assert get_toyota_steer_rate_limit(candidate) == expected
+
+  @pytest.mark.parametrize("direction", [-1, 1])
+  def test_corolla_rate_margin_preserves_request_spacing(self, direction):
+    counter = 0
+    requests = []
+    for rate in [0] * 30 + [90 * direction] * 36 + [0] * 30:
+      counter, request = common_fault_avoidance(
+        abs(rate) >= get_toyota_steer_rate_limit(CAR.TOYOTA_COROLLA_TSS2),
+        get_toyota_lat_active(True, 117 * direction), counter, MAX_STEER_RATE_FRAMES,
+      )
+      requests.append(request)
+    assert requests == [True] * 30 + ([True] * 17 + [False]) * 2 + [True] * 30
+
  @staticmethod
  def _make_controller(*, standstill_req=False, last_standstill=False):
    controller = CarController.__new__(CarController)
@@ -744,6 +848,8 @@ class TestToyotaCarController:
    controller.standstill_req = standstill_req
    controller.last_standstill = last_standstill
    controller.accel = 0.0
+    controller.brake_hold_active = False
+    controller._brake_hold_counter = 0
    return controller

  @staticmethod
@@ -806,9 +912,49 @@ class TestToyotaCarController:
  def test_toyota_auto_hold_latches_after_brake_press_until_gas(self):
    controller = self._make_controller()
    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+
+    cs = SimpleNamespace(
+      out=SimpleNamespace(
+        standstill=True,
+        cruiseState=SimpleNamespace(available=True, enabled=False),
+        gasPressed=False,
+        brakePressed=True,
+        gearShifter=structs.CarState.GearShifter.drive,
+      ),
+    )
+
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    assert controller.brake_hold_active
+
+    cs.out.brakePressed = False
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    assert controller.brake_hold_active
+
+    cs.out.gasPressed = True
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    assert not controller.brake_hold_active
+
+  def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
+    controller = self._make_controller()
+    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
+    cs = SimpleNamespace(
+      out=SimpleNamespace(
+        standstill=True,
+        cruiseState=SimpleNamespace(available=True, enabled=False),
+        gasPressed=False,
+        brakePressed=False,
+        gearShifter=structs.CarState.GearShifter.drive,
+      ),
+    )
+
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    assert not controller.brake_hold_active
+
+  def test_camry_auto_hold_uses_legacy_aeb_brake_path(self):
+    controller = self._make_controller()
+    controller.CP.carFingerprint = CAR.TOYOTA_CAMRY_TSS2
+    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0

    cs = SimpleNamespace(
      out=SimpleNamespace(
@@ -821,38 +967,13 @@ class TestToyotaCarController:
      pre_collision_2={},
    )

-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
+    parser.update([(1, can_sends)])
+
    assert controller.brake_hold_active
-
-    cs.out.brakePressed = False
-    controller.frame = 2
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    assert controller.brake_hold_active
-
-    cs.out.gasPressed = True
-    controller.frame = 4
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    assert not controller.brake_hold_active
-
-  def test_toyota_auto_hold_does_not_trigger_without_brake_press(self):
-    controller = self._make_controller()
-    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
-    cs = SimpleNamespace(
-      out=SimpleNamespace(
-        standstill=True,
-        cruiseState=SimpleNamespace(available=True, enabled=False),
-        gasPressed=False,
-        brakePressed=False,
-        gearShifter=structs.CarState.GearShifter.drive,
-      ),
-      pre_collision_2={},
-    )
-
-    controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
-    assert not controller.brake_hold_active
+    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1

  def test_prius_resume_request_releases_standstill_latch(self):
    controller = self._make_controller(standstill_req=True, last_standstill=True)
@@ -991,12 +1112,9 @@ class TestToyotaCarController:
    assert parser.can_valid
    assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1

-  def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
+  def test_auto_hold_uses_acc_control_brake_path(self):
    controller = self._make_controller()
    controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
-    controller.frame = 0
-    controller.brake_hold_active = False
-    controller._brake_hold_counter = 0
    cs = SimpleNamespace(
      out=SimpleNamespace(
        standstill=True,
@@ -1005,16 +1123,19 @@ class TestToyotaCarController:
        brakePressed=True,
        gearShifter=structs.CarState.GearShifter.drive,
      ),
-      pre_collision_2={},
    )

-    can_sends = controller.create_auto_brake_hold_messages(cs, brake_hold_allowed_timer=0)
+    controller.update_auto_hold_state(cs, activation_frames=0)
+    can_sends = [toyotacan.create_accel_command(
+      controller.packer, -1.0, False, True, True, False, 1, False, 0, False,
+    )]

-    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("PRE_COLLISION_2", 0)], 0)
+    parser = CANParser(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
    parser.update([(1, can_sends)])
    assert controller.brake_hold_active
-    assert parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
-    assert parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
+    assert parser.vl["ACC_CONTROL"]["ACCEL_CMD"] == -1.0
+    assert parser.vl["ACC_CONTROL"]["PERMIT_BRAKING"] == 1
+    assert parser.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 0

  def test_interceptor_stop_and_go_holds_small_launch_at_standstill(self):
    controller = self._make_controller()
@@ -1028,6 +1149,17 @@ class TestToyotaCarController:

    assert gas_cmd == 0.12

+  def test_interceptor_does_not_apply_gas_during_auto_hold(self):
+    controller = self._make_controller()
+    controller.CP.enableGasInterceptorDEPRECATED = True
+    controller.accel = 1.5
+    controller.brake_hold_active = True
+
+    assert controller._compute_interceptor_gas_cmd(
+      SimpleNamespace(longActive=True),
+      SimpleNamespace(out=SimpleNamespace(standstill=True, vEgo=0.0)),
+    ) == 0.0
+
  def test_interceptor_non_stop_and_go_scales_with_accel_request(self):
    controller = self._make_controller()
    controller.CP.enableGasInterceptorDEPRECATED = True
@@ -1160,6 +1292,271 @@ class TestToyotaCarController:
    assert CP.stopAccel == -1.5


+class TestToyotaAutoHoldCruise:
+  @staticmethod
+  def _make_car(*, candidate=CAR.TOYOTA_RAV4_TSS2, hybrid=False, enabled=True, capability=True):
+    cp = CarInterface.get_non_essential_params(candidate)
+    cp.openpilotLongitudinalControl = True
+    cp.flags &= ~(ToyotaFlags.AUTO_BRAKE_HOLD.value | ToyotaFlags.HYBRID.value)
+    if capability:
+      cp.flags |= ToyotaFlags.AUTO_BRAKE_HOLD.value
+    if hybrid:
+      cp.flags |= ToyotaFlags.HYBRID.value
+    controller = CarController(DBC[candidate], cp)
+    cc = structs.CarControl(enabled=True, longActive=True)
+    cc.actuators.accel = -0.7
+    cc.actuators.longControlState = structs.CarControl.Actuators.LongControlState.stopping
+    cc.hudControl.leadDistanceBars = 3
+    cs = SimpleNamespace(
+      out=structs.CarState(
+        standstill=True,
+        gearShifter=structs.CarState.GearShifter.drive,
+        cruiseState=structs.CarState.CruiseState(available=True, enabled=True, standstill=True),
+      ),
+      gvc=0.0,
+      acc_type=1,
+      pcm_acc_status=7,
+      pcm_follow_distance=1,
+      lkas_hud={},
+      pre_collision_2={},
+    )
+    toggles = SimpleNamespace(toyota_auto_hold=enabled, sng_hack=False, lock_doors=False, unlock_doors=False)
+    parser = CANParser(DBC[candidate][Bus.pt], [("ACC_CONTROL", 0), ("PRE_COLLISION_2", 0)], 0)
+    return SimpleNamespace(controller=controller, cc=cc, cs=cs, toggles=toggles, parser=parser)
+
+  @staticmethod
+  def _tick(car):
+    # Run through a complete ACC_CONTROL send interval and decode the actual
+    # controller output, including the ordinary standstill and PID paths.
+    car.can_sends = []
+    for _ in range(3):
+      now_nanos = car.controller.frame * 10_000_000
+      _, messages = car.controller.update(car.cc.as_reader(), car.cs, now_nanos, car.toggles)
+      car.can_sends.extend(messages)
+      car.parser.update([(now_nanos, messages)])
+    return car.parser.vl["ACC_CONTROL"]
+
+  @pytest.mark.parametrize("candidate,hybrid", [
+    (CAR.TOYOTA_RAV4, False),
+    (CAR.TOYOTA_RAV4H, True),
+    (CAR.TOYOTA_RAV4_TSS2, False),
+    (CAR.TOYOTA_RAV4_TSS2, True),
+    (CAR.TOYOTA_CAMRY_TSS2, False),
+  ])
+  @pytest.mark.parametrize("sng_hack", [False, True])
+  def test_auto_hold_does_not_change_cruise_stop_and_go(self, candidate, hybrid, sng_hack):
+    car = self._make_car(candidate=candidate, hybrid=hybrid)
+    baseline = self._make_car(candidate=candidate, hybrid=hybrid, enabled=False)
+    car.toggles.sng_hack = baseline.toggles.sng_hack = sng_hack
+
+    for _ in range(50):
+      command = self._tick(car)
+      expected = self._tick(baseline)
+      assert not car.controller.brake_hold_active
+      assert dict(command) == dict(expected)
+      assert car.parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 0
+
+    for vehicle in (car, baseline):
+      vehicle.cc.actuators.accel = 1.5
+      vehicle.cc.actuators.longControlState = structs.CarControl.Actuators.LongControlState.starting
+      vehicle.cc.cruiseControl.resume = True
+    for _ in range(30):
+      command = self._tick(car)
+      expected = self._tick(baseline)
+      assert not car.controller.brake_hold_active
+      assert dict(command) == dict(expected)
+      assert not car.cs.out.gasPressed
+    assert command["ACCEL_CMD"] > 0
+    assert command["RELEASE_STANDSTILL"] == 1
+
+  def test_manual_stop_still_holds_with_only_aol_active(self):
+    car = self._make_car()
+    car.cc.enabled = False
+    car.cc.longActive = False
+    car.cc.latActive = True
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.brakePressed = True
+    # Include the first ACC_CONTROL transmission after the one-second latch.
+    for _ in range(35):
+      command = self._tick(car)
+    assert car.controller.brake_hold_active
+    assert command["ACCEL_CMD"] == -1.0
+    assert command["RELEASE_STANDSTILL"] == 0
+
+    car.cs.out.brakePressed = False
+    command = self._tick(car)
+    assert car.controller.brake_hold_active
+    assert command["ACCEL_CMD"] == -1.0
+
+    car.cs.out.gasPressed = True
+    command = self._tick(car)
+    assert not car.controller.brake_hold_active
+    assert command["ACCEL_CMD"] == 0.0
+    assert command["RELEASE_STANDSTILL"] == 1
+
+    car.cs.out.gasPressed = False
+    for _ in range(50):
+      self._tick(car)
+      assert not car.controller.brake_hold_active
+
+    car.cs.out.brakePressed = True
+    for _ in range(35):
+      command = self._tick(car)
+    assert car.controller.brake_hold_active
+    assert command["ACCEL_CMD"] == -1.0
+
+  @pytest.mark.parametrize("long_state", ["off", "pid", "starting", "stopping"])
+  @pytest.mark.parametrize("brake_pressed", [False, True])
+  def test_engaged_cruise_never_activates_auto_hold(self, long_state, brake_pressed):
+    car = self._make_car()
+    car.cc.actuators.longControlState = getattr(structs.CarControl.Actuators.LongControlState, long_state)
+    car.cs.out.brakePressed = brake_pressed
+    for _ in range(50):
+      self._tick(car)
+      assert not car.controller.brake_hold_active
+
+  @pytest.mark.parametrize("enabled,capability,candidate", [
+    (False, True, CAR.TOYOTA_RAV4_TSS2),
+    (True, False, CAR.TOYOTA_RAV4_TSS2),
+  ])
+  def test_manual_hold_requires_toggle_and_capability(self, enabled, capability, candidate):
+    car = self._make_car(candidate=candidate, enabled=enabled, capability=capability)
+    car.cc.longActive = False
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.brakePressed = True
+    for _ in range(50):
+      command = self._tick(car)
+      assert not car.controller.brake_hold_active
+    assert command["ACCEL_CMD"] == 0.0
+
+  @pytest.mark.parametrize("release", ["toggle", "cancel", "main", "park", "reverse", "moving", "cruise"])
+  def test_manual_hold_releases_when_conditions_change(self, release):
+    car = self._make_car()
+    car.cc.longActive = False
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.brakePressed = True
+    for _ in range(35):
+      self._tick(car)
+    assert car.controller.brake_hold_active
+
+    if release == "toggle":
+      car.toggles.toyota_auto_hold = False
+    elif release == "cancel":
+      car.cc.cruiseControl.cancel = True
+    elif release == "main":
+      car.cs.out.cruiseState.available = False
+    elif release in ("park", "reverse"):
+      car.cs.out.gearShifter = getattr(structs.CarState.GearShifter, release)
+    elif release == "moving":
+      car.cs.out.standstill = False
+    else:
+      car.cs.out.cruiseState.enabled = True
+      car.cc.longActive = True
+
+    self._tick(car)
+    assert not car.controller.brake_hold_active
+
+    if release == "cruise":
+      car.cs.out.brakePressed = False
+      car.cc.actuators.accel = 1.5
+      car.cc.actuators.longControlState = structs.CarControl.Actuators.LongControlState.starting
+      car.cc.cruiseControl.resume = True
+      for _ in range(20):
+        command = self._tick(car)
+        assert not car.controller.brake_hold_active
+      assert command["ACCEL_CMD"] > 0
+      assert command["RELEASE_STANDSTILL"] == 1
+
+
+class TestToyotaAutoHoldAeb:
+  _make_car = staticmethod(TestToyotaAutoHoldCruise._make_car)
+  _tick = staticmethod(TestToyotaAutoHoldCruise._tick)
+
+  @pytest.mark.parametrize("candidate", list(CAR))
+  @pytest.mark.parametrize("hybrid", [False, True])
+  def test_legacy_path_is_scoped_to_camry_and_early_rav4_hybrid(self, candidate, hybrid):
+    cp = SimpleNamespace(carFingerprint=candidate, flags=ToyotaFlags.HYBRID.value if hybrid else 0)
+    expected = candidate == CAR.TOYOTA_CAMRY_TSS2 or (candidate == CAR.TOYOTA_RAV4_TSS2 and hybrid)
+    assert uses_toyota_auto_hold_aeb(cp) == expected
+
+  @pytest.mark.parametrize("candidate,hybrid", [(CAR.TOYOTA_CAMRY_TSS2, False), (CAR.TOYOTA_RAV4_TSS2, True)])
+  def test_manual_stop_uses_legacy_hold_and_releases_on_gas(self, candidate, hybrid):
+    car = self._make_car(candidate=candidate, hybrid=hybrid)
+    car.cc.enabled = False
+    car.cc.longActive = False
+    car.cc.latActive = True
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.cruiseState.standstill = False
+    car.cs.out.brakePressed = True
+    car.cs.pre_collision_2 = {"DSS1GDRV": -0.1, "PBRTRGR": 0}
+
+    # Pass through the camera message until the pedal has been held at a stop.
+    command = self._tick(car)
+    assert not car.controller.brake_hold_active
+    assert car.parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -0.1
+    for _ in range(34):
+      command = self._tick(car)
+    assert car.controller.brake_hold_active
+    assert any(msg[0] == 0x344 for msg in car.can_sends)
+    assert car.parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+    assert car.parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 1
+    # Do not simultaneously inject an ACC_CONTROL hold on legacy-path cars.
+    assert command["ACCEL_CMD"] == 0.0
+    assert command["RELEASE_STANDSTILL"] == 1
+
+    car.cs.out.brakePressed = False
+    for _ in range(50):
+      self._tick(car)
+      assert car.controller.brake_hold_active
+      assert car.parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -1.0
+
+    car.cs.out.gasPressed = True
+    self._tick(car)
+    assert not car.controller.brake_hold_active
+    assert car.parser.vl["PRE_COLLISION_2"]["DSS1GDRV"] == -0.1
+    assert car.parser.vl["PRE_COLLISION_2"]["PBRTRGR"] == 0
+
+  @pytest.mark.parametrize("enabled,capability", [(False, True), (True, False)])
+  def test_rav4_hybrid_does_not_inject_legacy_messages_without_opt_in(self, enabled, capability):
+    car = self._make_car(hybrid=True, enabled=enabled, capability=capability)
+    car.cc.longActive = False
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.brakePressed = True
+    for _ in range(50):
+      self._tick(car)
+      assert not car.controller.brake_hold_active
+      assert all(msg[0] != 0x344 for msg in car.can_sends)
+
+  @pytest.mark.parametrize("release", ["toggle", "main", "park", "reverse", "moving", "cruise"])
+  def test_rav4_hybrid_legacy_hold_releases_when_conditions_change(self, release):
+    car = self._make_car(hybrid=True)
+    car.cc.longActive = False
+    car.cc.actuators.accel = 0.0
+    car.cs.out.cruiseState.enabled = False
+    car.cs.out.brakePressed = True
+    for _ in range(35):
+      self._tick(car)
+    assert car.controller.brake_hold_active
+
+    if release == "toggle":
+      car.toggles.toyota_auto_hold = False
+    elif release == "main":
+      car.cs.out.cruiseState.available = False
+    elif release in ("park", "reverse"):
+      car.cs.out.gearShifter = getattr(structs.CarState.GearShifter, release)
+    elif release == "moving":
+      car.cs.out.standstill = False
+    else:
+      car.cs.out.cruiseState.enabled = True
+    self._tick(car)
+    assert not car.controller.brake_hold_active
+
+
 class TestToyotaCarState:
  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT])
  def test_legacy_prius_distance_button_generates_events(self, candidate):
@@ -629,6 +629,16 @@ TOYOTA_AUTO_HOLD_CARS = (TSS2_CAR - RADAR_ACC_CAR - SECOC_CAR) | {
  CAR.TOYOTA_RAV4H,
 }

+# The Camry uses the legacy camera AEB replacement for Auto Hold. The
+# 2019-2021 RAV4 uses it only with the detected hybrid powertrain.
+TOYOTA_AUTO_HOLD_AEB_CARS = {CAR.TOYOTA_CAMRY_TSS2}
+
+
+def uses_toyota_auto_hold_aeb(CP: CarParams) -> bool:
+  return (CP.carFingerprint in TOYOTA_AUTO_HOLD_AEB_CARS or
+          (CP.carFingerprint == CAR.TOYOTA_RAV4_TSS2 and bool(CP.flags & ToyotaFlags.HYBRID.value)))
+
+
 # no resume button press required
 NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)

@@ -3,6 +3,7 @@ from opendbc.can import CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gps import get_car_gps_config
 from opendbc.car.volkswagen.values import DBC, CanBus, NetworkLocation, TransmissionType, GearShifter, \
                                                      CarControllerParams, VolkswagenFlags

@@ -24,6 +25,32 @@ class CarState(CarStateBase):
    self.travel_assist_available = False
    self.curvature_meas = 0.
    self.klr_stock_values = {}
+    self.car_gps_config = get_car_gps_config(CP)
+    self.car_gps_supported = self.car_gps_config is not None
+    self.car_gps = None
+    self._car_gps_timestamp_nanos = 0
+
+  def _update_car_gps(self, cp) -> None:
+    if self.car_gps_config is None:
+      return
+
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in self.car_gps_config.messages]
+    if min(timestamps) > self._car_gps_timestamp_nanos and max(timestamps) - min(timestamps) <= 2_000_000_000:
+      gps = self.car_gps_config.decoder(*(cp.vl[name] for name in self.car_gps_config.messages))
+      if gps is not None and (self.car_gps is None or not gps["hasFix"] or
+                              gps["unixTimestampMillis"] > self.car_gps["unixTimestampMillis"]):
+        timestamp_nanos = max(timestamps)
+        gps["timestamp_nanos"] = timestamp_nanos
+        self.car_gps = gps
+        self._car_gps_timestamp_nanos = timestamp_nanos
+
+    if self.car_gps is not None and cp._last_update_nanos - self._car_gps_timestamp_nanos > 2_500_000_000:
+      if self.car_gps["hasFix"]:
+        self.car_gps = {**self.car_gps, "hasFix": False, "speed": 0.0, "vNED": [0.0, 0.0, 0.0],
+                        "bearingAccuracyDeg": 180.0, "timestamp_nanos": cp._last_update_nanos}
+
+  def get_car_gps(self):
+    return self.car_gps

  def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
    if not self.CP.pcmCruise:
@@ -51,6 +78,7 @@ class CarState(CarStateBase):
    pt_cp = can_parsers[Bus.pt]
    cam_cp = can_parsers[Bus.cam]
    ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
+    self._update_car_gps(pt_cp)

    if self.CP.flags & VolkswagenFlags.PQ:
      return self.update_pq(pt_cp, cam_cp, ext_cp)
@@ -427,6 +455,9 @@ class CarState(CarStateBase):

    # manually configure some optional and variable-rate/edge-triggered messages
    pt_messages, cam_messages = [], []
+    gps_config = get_car_gps_config(CP)
+    if gps_config is not None:
+      pt_messages += [(name, 0) for name in gps_config.messages]

    if not CP.flags & VolkswagenFlags.MLB:
      pt_messages += [
@@ -185,6 +185,29 @@ def volkswagen_mqb_meb_checksum(address: int, sig, d: bytearray) -> int:
  return crc ^ 0xFF


+def volkswagen_mqb_meb_dyn_len_checksum(address: int, sig, d: bytearray, length: int, const: list[int]) -> int:
+  d = d[:length]
+  crc = 0xFF
+  for i in range(1, len(d)):
+    crc ^= d[i]
+    crc = CRC8H2F[crc]
+  counter = d[1] & 0x0F
+  crc ^= const[counter]
+  crc = CRC8H2F[crc]
+  return crc ^ 0xFF
+
+
+def volkswagen_meb_alt_crc_checksum(address: int, sig, d: bytearray) -> int:
+  entry = VOLKSWAGEN_MEB_ALT_CRC_CONSTANTS.get(address)
+  if entry:
+    length, const = entry
+    checksum = volkswagen_mqb_meb_dyn_len_checksum(address, sig, d, length, const)
+    if checksum == d[0]:
+      return checksum
+
+  return volkswagen_mqb_meb_checksum(address, sig, d)
+
+
 def xor_checksum(address: int, sig, d: bytearray, initial_value: int = 0) -> int:
  checksum = initial_value
  checksum_byte = sig.start_bit // 8
@@ -243,6 +266,8 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
            0xC5, 0x91, 0x0F, 0x27, 0x34, 0x04, 0x7F, 0x02],  # EA_02
    0x20A: [0x9D, 0xE8, 0x36, 0xA1, 0xCA, 0x3B, 0x1D, 0x33,
            0xE0, 0xD5, 0xBB, 0x5F, 0xAE, 0x3C, 0x31, 0x9F],  # EML_06
+    0x25D: [0xDA, 0x6B, 0x0E, 0xB2, 0x78, 0xBD, 0x5A, 0x81,
+            0x7B, 0xD6, 0x41, 0x39, 0x76, 0xB6, 0xD7, 0x35],  # KLR_01
    0x26B: [0xCE, 0xCC, 0xBD, 0x69, 0xA1, 0x3C, 0x18, 0x76,
            0x0F, 0x04, 0xF2, 0x3A, 0x93, 0x24, 0x19, 0x51],  # TA_01
    0x30C: [0x0F] * 16,  # ACC_02
@@ -256,3 +281,19 @@ VOLKSWAGEN_MQB_MEB_CONSTANTS: dict[int, list[int]] = {
    0x65D: [0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7,
            0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9],  # ESP_20
 }
+
+
+VOLKSWAGEN_MEB_ALT_CRC_CONSTANTS: dict[int, tuple[int, list[int]]] = {
+  0x0DB: (42, [0x09, 0xFA, 0xCA, 0x8E, 0x62, 0xD5, 0xD1, 0xF0,
+               0x31, 0xA0, 0xAF, 0xDA, 0x4D, 0x1A, 0x0A, 0x97]),  # AWV_03
+  0xFC:  (60, [0x69, 0xDC, 0xF9, 0x64, 0x6A, 0xCE, 0x55, 0x2C,
+               0xC4, 0x38, 0x8F, 0xD1, 0xC6, 0x43, 0xB4, 0xB1]),  # ESC_51
+  0x102: (44, [0xD7, 0x12, 0x85, 0x7E, 0x0B, 0x34, 0xFA, 0x16,
+               0x7A, 0x25, 0x2D, 0x8F, 0x04, 0x8E, 0x5D, 0x35]),  # ESC_50
+  0x10B: (44, [0x2C, 0xB1, 0x1A, 0x75, 0xBB, 0x65, 0x79, 0x47,
+               0x81, 0x2B, 0xCC, 0x96, 0x17, 0xDB, 0xC0, 0x94]),  # Motor_51
+  0x139: (28, [0x96, 0x92, 0x95, 0xB5, 0x6E, 0xE3, 0xBD, 0xB4,
+               0xFA, 0xAE, 0xBE, 0xCB, 0xCF, 0xA5, 0x77, 0xEF]),  # VMM_02
+  0x13D: (28, [0x18, 0x71, 0x10, 0x8D, 0xD7, 0xAA, 0xB0, 0x78,
+               0xAC, 0x12, 0xAE, 0x0C, 0xDD, 0xF1, 0x85, 0x68]),  # QFK_01
+}
@@ -0,0 +1,196 @@
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus
+from opendbc.car.gps import VOLKSWAGEN_TAOS_GPS_MESSAGES, get_car_gps_config, parse_volkswagen_taos_can_gps
+from opendbc.car.volkswagen.carstate import CarState
+from opendbc.car.volkswagen.interface import CarInterface
+from opendbc.car.volkswagen.values import CAR, DBC
+
+
+# Synthetic frames, not route data: 40 N / 110 W, 12.5 m/s westbound,
+# altitude 300 m, UTC 1,800,000,000, ten satellites, packet ID 2.
+GPS_FRAMES = (
+  (0x36F, bytes.fromhex("02688909e09da31d"), 0),
+  (0x374, bytes.fromhex("02c0a83200000000"), 0),
+  (0x378, bytes.fromhex("0221415290010000"), 0),
+  (0x37B, bytes.fromhex("00d2496b7f4c0900"), 0),
+)
+
+
+@pytest.fixture
+def gps_state():
+  cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
+  state = CarState(cp, None)
+  parsers = state.get_can_parsers(cp)
+  return state, parsers
+
+
+def decode_frames(frames=GPS_FRAMES):
+  parser = CANParser("vw_mqb", [(name, 0) for name in VOLKSWAGEN_TAOS_GPS_MESSAGES], 0)
+  parser.update([(1_000_000_000, list(frames))])
+  return parser, [parser.vl[name] for name in VOLKSWAGEN_TAOS_GPS_MESSAGES]
+
+
+def test_synthetic_gps_frame_decode():
+  parser, values = decode_frames()
+  gps = parse_volkswagen_taos_can_gps(*values)
+  assert parser.can_valid
+  assert gps["hasFix"]
+  assert gps["latitude"] == pytest.approx(40.0)
+  assert gps["longitude"] == pytest.approx(-110.0)
+  assert gps["speed"] == 12.5
+  assert gps["bearingDeg"] == 270.0
+  assert gps["altitude"] == 300.0
+  assert gps["unixTimestampMillis"] == 1_800_000_000_000
+  assert gps["satelliteCount"] == 10
+  assert gps["vNED"] == pytest.approx([0.0, -12.5, 0.0])
+
+
+def test_unvalidated_hemisphere_is_not_a_fix():
+  frames = ((0x36F, bytes.fromhex("02688929e09da319"), 0), *GPS_FRAMES[1:])
+  _, values = decode_frames(frames)
+  gps = parse_volkswagen_taos_can_gps(*values)
+  assert not gps["hasFix"]
+  assert gps["vNED"] == [0.0, 0.0, 0.0]
+
+
+@pytest.mark.parametrize("message,signal,value", (
+  (0, "GNSS_LatitudeMagnitude", 91.0),
+  (0, "GNSS_LongitudeMagnitude", 181.0),
+  (0, "GNSS_LatitudeMagnitude", float("nan")),
+  (0, "GNSS_PositionStatus", 0),
+  (0, "GNSS_PositionStatus", 1),
+  (0, "GNSS_PositionStatus", 2),
+  (3, "GNSS_Empfaenger_Status", 0),
+  (3, "GNSS_Genutzte_Satelliten", 0),
+  (3, "GNSS_Genutzte_Satelliten", 3),
+))
+def test_invalid_solution_is_not_a_fix(message, signal, value):
+  _, values = decode_frames()
+  values[message][signal] = value
+  gps = parse_volkswagen_taos_can_gps(*values)
+  assert not gps["hasFix"]
+  assert gps["speed"] == 0.0
+  assert gps["vNED"] == [0.0, 0.0, 0.0]
+
+
+def test_no_constellation_or_null_position_is_not_a_fix():
+  _, values = decode_frames()
+  values[3]["GNSS_GPS_in_Nutzung"] = values[3]["GNSS_GLONASS_in_Nutzung"] = 0
+  assert not parse_volkswagen_taos_can_gps(*values)["hasFix"]
+  values[3]["GNSS_GPS_in_Nutzung"] = 1
+  values[0]["GNSS_LatitudeMagnitude"] = values[0]["GNSS_LongitudeMagnitude"] = 0
+  assert not parse_volkswagen_taos_can_gps(*values)["hasFix"]
+
+
+def test_initial_clock_and_mixed_epochs_are_rejected():
+  _, values = decode_frames()
+  values[3]["GNSS_UTC_Zeit"] = 0
+  assert parse_volkswagen_taos_can_gps(*values) is None
+  values[3]["GNSS_UTC_Zeit"] = 1_800_000_000
+  values[1]["GNSS_Nachrichtenpaket_ID2"] = 1
+  assert parse_volkswagen_taos_can_gps(*values) is None
+
+
+def test_invalid_motion_and_altitude_have_unknown_accuracy():
+  _, values = decode_frames()
+  values[1]["GNSS_Speed"] = 127.75
+  values[1]["GNSS_Bearing"] = 409.5
+  values[2]["GNSS_Ortung_Hoehe"] = 7690.0
+  gps = parse_volkswagen_taos_can_gps(*values)
+  assert gps["hasFix"]
+  assert gps["speed"] == gps["bearingDeg"] == gps["altitude"] == 0.0
+  assert gps["bearingAccuracyDeg"] == 180.0
+  assert gps["speedAccuracy"] == 100.0
+  assert gps["verticalAccuracy"] == 500.0
+  assert gps["vNED"] == [0.0, 0.0, 0.0]
+
+
+def test_unknown_course_does_not_report_accurate_zero_velocity():
+  _, values = decode_frames()
+  values[1]["GNSS_Bearing"] = 409.5
+  gps = parse_volkswagen_taos_can_gps(*values)
+  assert gps["hasFix"]
+  assert gps["speed"] == 12.5
+  assert gps["speedAccuracy"] == 100.0
+  assert gps["vNED"] == [0.0, 0.0, 0.0]
+
+
+def test_gps_is_only_enabled_for_the_taos():
+  for model in (CAR.VOLKSWAGEN_TAOS_MK1, CAR.VOLKSWAGEN_GOLF_MK7, CAR.VOLKSWAGEN_ID4_MK1):
+    cp = CarInterface.get_non_essential_params(model)
+    state = CarState(cp, None)
+    config = get_car_gps_config(cp)
+    expected = model == CAR.VOLKSWAGEN_TAOS_MK1
+    assert state.car_gps_supported is expected
+    assert (config is not None) is expected
+    if expected:
+      assert config.messages == VOLKSWAGEN_TAOS_GPS_MESSAGES
+    cp.brand = "mock"
+    assert get_car_gps_config(cp) is None
+
+
+def test_carstate_update_reads_gps(gps_state):
+  state, parsers = gps_state
+  parsers[Bus.pt].update([(1_000_000_000, list(GPS_FRAMES))])
+  state.update(parsers, None)
+  gps = state.get_car_gps()
+  assert gps["hasFix"]
+  assert gps["timestamp_nanos"] == 1_000_000_000
+  assert gps["longitude"] == pytest.approx(-110.0)
+
+
+def test_partial_startup_and_missing_gps_are_optional(gps_state):
+  state, parsers = gps_state
+  parser = parsers[Bus.pt]
+  packer = CANPacker(DBC[state.CP.carFingerprint][Bus.pt])
+  blink = packer.make_can_msg("Blinkmodi_02", parser.bus, {})
+  for time in (1_000_000_000, 2_000_000_000):
+    parser.update([(time, [blink])])
+    state._update_car_gps(parser)
+    assert state.get_car_gps() is None
+    assert parser.can_valid
+  parser.update([(3_000_000_000, list(GPS_FRAMES[:3]))])
+  state._update_car_gps(parser)
+  assert state.get_car_gps() is None
+  assert all(parser.message_states[address].ignore_alive for address, _, _ in GPS_FRAMES)
+
+
+@pytest.mark.parametrize("dropout", ("missing_position", "frozen_clock", "missing_all"))
+def test_gps_dropout_and_recovery(gps_state, dropout):
+  state, parsers = gps_state
+  parser = parsers[Bus.pt]
+  parser.update([(1_000_000_000, list(GPS_FRAMES))])
+  state._update_car_gps(parser)
+  assert state.get_car_gps()["hasFix"]
+
+  frames = list(GPS_FRAMES)
+  if dropout == "missing_position":
+    frames = frames[1:]
+  elif dropout == "missing_all":
+    frames = []
+  parser.update([(4_000_000_000, frames)])
+  state._update_car_gps(parser)
+  assert not state.get_car_gps()["hasFix"]
+  assert state.get_car_gps()["timestamp_nanos"] == 4_000_000_000
+  assert state.get_car_gps()["speed"] == 0.0
+
+  packer = CANPacker("vw_mqb")
+  status = {**parser.vl["GNSS_05"], "GNSS_UTC_Zeit": 1_800_000_004}
+  parser.update([(5_000_000_000, [*GPS_FRAMES[:3], packer.make_can_msg("GNSS_05", parser.bus, status)])])
+  state._update_car_gps(parser)
+  assert state.get_car_gps()["hasFix"]
+  assert state.get_car_gps()["unixTimestampMillis"] == 1_800_000_004_000
+
+
+def test_invalid_receiver_status_clears_existing_fix(gps_state):
+  state, parsers = gps_state
+  parser = parsers[Bus.pt]
+  parser.update([(1_000_000_000, list(GPS_FRAMES))])
+  state._update_car_gps(parser)
+  status = {**parser.vl["GNSS_05"], "GNSS_Empfaenger_Status": 0}
+  packer = CANPacker("vw_mqb")
+  parser.update([(2_000_000_000, [*GPS_FRAMES[:3], packer.make_can_msg("GNSS_05", parser.bus, status)])])
+  state._update_car_gps(parser)
+  assert not state.get_car_gps()["hasFix"]
@@ -1,10 +1,16 @@
 import random
 import re

+import pytest
+
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
 from opendbc.car.structs import CarParams
 from opendbc.car.volkswagen.interface import CarInterface
-from opendbc.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI, VolkswagenFlags, VolkswagenSafetyFlags
 from opendbc.car.volkswagen.fingerprints import FW_VERSIONS
+from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum
+from opendbc.car.volkswagen.radar_interface import RadarInterface
+from opendbc.car.volkswagen.values import CAR, DBC, FW_QUERY_CONFIG, WMI, CanBus, VolkswagenFlags, VolkswagenSafetyFlags

 Ecu = CarParams.Ecu

@@ -60,6 +66,47 @@ class TestVolkswagenPlatformConfigs:
    assert not cp.pcmCruise
    assert cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL

+  @pytest.mark.parametrize("data_hex", (
+    "fc03fcfcfc0f0000",
+    "e304fcfcfc0f0000",
+    "1105fcfcfc0f0000",
+  ))
+  def test_meb_klr_checksum(self, data_hex):
+    data = bytearray.fromhex(data_hex)
+    assert volkswagen_mqb_meb_checksum(0x25D, None, data) == data[0]
+
+  @pytest.mark.parametrize(("address", "data_hex"), (
+    (0x0DB, "bb0ffcf0fefe0000fd0fffc0ff0000000200000000000000010000000000000000000000000000000000000000000000"),
+    (0x0FC, "650b1f007ef0b10c0000000000000000ffff1019191c1cfefe0000000000000000e0fff40140ffeb7f0748e481af421f00000000000000000000000000000000"),
+    (0x102, "9f0e7cfa010500000020cb0402000000b703a00000ec0f00000000002cd3ff1f0020a60000000020000000007d5256ab"),
+    (0x10B, "9d06000000007efe000000010000ff01feff000000000000000000000090240000000000000000000000000000000000"),
+    (0x139, "ac0e850b0890132000d019800000000000000000000000003002000500000000"),
+    (0x13D, "2412111101d1060000d0d410d106000000000000000000000000000000000000"),
+  ))
+  def test_meb_gen2_checksum(self, address, data_hex):
+    data = bytearray.fromhex(data_hex)
+    assert volkswagen_meb_alt_crc_checksum(address, None, data) == data[0]
+
+  def test_meb_camera_radar_tracks(self):
+    cp = self._get_meb_params(CAR.SKODA_ENYAQ_MK1)
+    radar = RadarInterface(cp)
+    packer = CANPacker(DBC[cp.carFingerprint][Bus.radar])
+    message = packer.make_can_msg("MEB_Distance_01", CanBus(cp).cam, {
+      "Distance_Status": 0,
+      "Same_Lane_01_ObjectID": 1,
+      "Same_Lane_01_Long_Distance": 25.0,
+      "Same_Lane_01_Lat_Distance": 0.5,
+      "Same_Lane_01_Rel_Velo": -2.0,
+    })
+
+    radar_data = radar.update([(1_000_000_000, [message])])
+    assert radar_data is not None
+    assert len(radar_data.points) == 1
+    assert radar_data.points[0].trackId == 0
+    assert radar_data.points[0].dRel == pytest.approx(25.0, abs=0.1)
+    assert radar_data.points[0].yRel == pytest.approx(0.5, abs=0.1)
+    assert radar_data.points[0].vRel == pytest.approx(-2.0, abs=0.1)
+
  def test_taos_longitudinal_actuator_delay(self):
    taos_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_TAOS_MK1)
    golf_cp = CarInterface.get_non_essential_params(CAR.VOLKSWAGEN_GOLF_MK7)
@@ -1,3 +1,5 @@
+from collections import deque
+
 import numpy as np

 from opendbc.can.packer import CANPacker
@@ -5,16 +7,20 @@ from opendbc.car import Bus
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.lateral import apply_std_steer_angle_limits
 from opendbc.car.volvo.helpers import LCA3CounterSync
-from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
-                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
-from opendbc.car.volvo.values import CarControllerParams
+from opendbc.car.volvo.volvocan import (create_c1_cancel, create_c1_pscm_message, create_c1_steering_control, create_lca_message,
+                                        create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message, create_lca_5_message,
+                                        create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CAR, CarControllerParams, VolvoC1PlatformConfig


 class CarController(CarControllerBase):
  def __init__(self, dbc_names, CP):
    super().__init__(dbc_names, CP)
-    self.packer = CANPacker(dbc_names[Bus.party])
+    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
+    self.packer = CANPacker(dbc_names[Bus.pt] if self.is_c1 else dbc_names[Bus.party])
    self.apply_angle_last = 0.0  # Track last applied steering angle
+    self.c1_torque_samples = deque(maxlen=CarControllerParams.C1_N_ZERO_TORQUE)
+    self.c1_recovery_until = -1

    self.gear_acc = 60
    self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
@@ -62,6 +68,9 @@ class CarController(CarControllerBase):
    self.lca_auth_drv_mag_filt = 0.0

  def update(self, CC, CS, now_nanos, starpilot_toggles):
+    if self.is_c1:
+      return self._update_c1(CC, CS)
+
    can_sends = []
    actuators = CC.actuators

@@ -161,8 +170,6 @@ class CarController(CarControllerBase):
          # convention = driver pushing right → yields right authority
          # (LOOSELY/+ arm), retains left (INV/- arm).
          # Yield arm scales with |drv| above OVERRIDE_THRESH — strong presses
-          # (potholes, hard corrections) cross past zero so EPS hands the wheel
-          # to the driver in their direction.
          excess = max(0.0, self.lca_auth_drv_mag_filt - float(P.LCA_AUTH_OVERRIDE_ENTER))
          yield_signed = float(P.LCA_AUTH_YIELD_BASE) - P.LCA_AUTH_YIELD_SLOPE * excess
          yield_signed = max(float(P.LCA_AUTH_YIELD_MIN), min(yield_signed, float(P.LCA_AUTH_YIELD_BASE)))
@@ -241,12 +248,12 @@ class CarController(CarControllerBase):
    # LCA_5 (formerly SPEED_1) - 0x67 - 50 Hz
    # Contains wheel speeds + LCA signals (LCA_TURN_BITS, LCA_5_STEER)
    if self.frame % 2 == 0: # 50 Hz
-      # Initialize counter from CarState on first run
-      if self.lca_5_counter is None:
+      if not lat_active or self.lca_5_counter is None:
        self.lca_5_counter = CS.msg_lca_5['COUNTER']

      # Increment counter by +4, wrap at 15 (0xF never used)
-      self.lca_5_counter = (self.lca_5_counter + 4) % 15
+      if lat_active:
+        self.lca_5_counter = (self.lca_5_counter + 4) % 15

      can_sends.append(create_lca_5_message(self.packer, lat_active, apply_angle,
                                            CS.msg_lca_5, self.lca_5_counter))
@@ -285,3 +292,50 @@ class CarController(CarControllerBase):
    self.frame += 1
    self.last_lat_active = CC.latActive
    return new_actuators, can_sends
+
+  def _update_c1(self, CC, CS):
+    can_sends = []
+    actuators = CC.actuators
+
+    if self.frame % 2 == 0:  # stock FSM1 and PSCM1 messages are 50 Hz
+      requested_active = CC.latActive and CS.out.vEgo > self.CP.minSteerSpeed
+      recovering = requested_active and self.frame < self.c1_recovery_until
+
+      if not requested_active:
+        self.c1_torque_samples.clear()
+        self.c1_recovery_until = -1
+      elif recovering:
+        self.c1_torque_samples.clear()
+      else:
+        if self.c1_recovery_until >= 0:
+          self.c1_recovery_until = -1
+          self.c1_torque_samples.clear()
+        self.c1_torque_samples.append(CS.c1_lka_torque)
+        if (len(self.c1_torque_samples) == CarControllerParams.C1_N_ZERO_TORQUE and
+            all(torque == 0 for torque in self.c1_torque_samples)):
+          self.c1_recovery_until = self.frame + 100
+          self.c1_torque_samples.clear()
+          recovering = True
+
+      lat_active = requested_active and not recovering
+      desired_angle = float(np.clip(
+        actuators.steeringAngleDeg,
+        CS.out.steeringAngleDeg - CarControllerParams.C1_ANGLE_ERROR,
+        CS.out.steeringAngleDeg + CarControllerParams.C1_ANGLE_ERROR,
+      ))
+      apply_angle = apply_std_steer_angle_limits(
+        desired_angle, self.apply_angle_last, CS.out.vEgoRaw,
+        CS.out.steeringAngleDeg, lat_active, CarControllerParams.C1_ANGLE_LIMITS,
+      )
+
+      can_sends.append(create_c1_pscm_message(self.packer, CS.c1_msg_pscm))
+      can_sends.append(create_c1_steering_control(self.packer, apply_angle, lat_active))
+      self.apply_angle_last = apply_angle
+
+    if CC.cruiseControl.cancel and self.frame % 10 == 0:
+      can_sends.append(create_c1_cancel(self.packer))
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    return new_actuators, can_sends
@@ -1,8 +1,9 @@
 from cereal import custom
-from opendbc.car import structs, Bus
+from opendbc.car import Bus, ButtonType, create_button_events, structs
 from opendbc.can.parser import CANParser
-from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
+from opendbc.car.volvo.values import CAR, DBC, VolvoC1PlatformConfig, VolvoSPAPlatformConfig

 GearShifter = structs.CarState.GearShifter
 TransmissionType = structs.CarParams.TransmissionType
@@ -16,6 +17,7 @@ STEERING_PRESSED_THRESHOLD = 2
 class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
+    self.is_c1 = isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig)
    self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
    self.gas_pressed_prev = False
    self.dispatch_lca_2_msg = False
@@ -34,8 +36,22 @@ class CarState(CarStateBase):
    self.msg_lca_4 = {}
    self.msg_lca_6 = {}
    self.msg_lca_7 = {}
+    self.c1_msg_pscm = {}
+    self.c1_lka_torque = 0
+    self.c1_button_states = {
+      "ACCOnOffBtn": False,
+      "ACCStopBtn": False,
+      "ACCSetBtn": False,
+      "ACCResumeBtn": False,
+      "ACCMinusBtn": False,
+      "TimeGapIncreaseBtn": False,
+      "TimeGapDecreaseBtn": False,
+    }

  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
+    if self.is_c1:
+      return self._update_c1(can_parsers)
+
    cp_main = can_parsers[Bus.main]
    cp_pt = can_parsers[Bus.pt]
    cp_party = can_parsers[Bus.party]
@@ -137,8 +153,83 @@ class CarState(CarStateBase):
    fp_ret = custom.StarPilotCarState.new_message()
    return ret, fp_ret

+  def _update_c1(self, can_parsers):
+    cp = can_parsers[Bus.pt]
+    cp_cam = can_parsers[Bus.cam]
+    ret = structs.CarState()
+
+    ret.vEgoRaw = cp.vl["VehicleSpeed1"]["VehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw < 0.1
+
+    ret.steeringAngleDeg = cp.vl["PSCM1"]["SteeringAngleServo"]
+    ret.steeringTorque = cp.vl["PSCM1"]["LKATorque"]
+    ret.steeringPressed = False
+
+    ret.gasPressed = cp.vl["PedalandBrake"]["AccPedal"] > 5.0
+    ret.brakePressed = bool(cp.vl["PedalandBrake"]["BrakePedalActive2"] or
+                            cp.vl["PedalandBrake"]["BrakePedalActive"])
+
+    ret.gearShifter = {
+      0: GearShifter.park,
+      1: GearShifter.reverse,
+      2: GearShifter.neutral,
+      3: GearShifter.drive,
+    }.get(int(cp.vl["TCM0"]["GearShifter"]), GearShifter.unknown)
+
+    ret.cruiseState.available = bool(cp_cam.vl["FSM0"]["ACCStatusOnOff"])
+    ret.cruiseState.enabled = bool(cp_cam.vl["FSM0"]["ACCStatusActive"])
+    ret.cruiseState.speed = cp.vl["ACC"]["SpeedTargetACC"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = False
+    ret.cruiseState.standstill = ret.standstill
+
+    turn_signal = int(cp.vl["MiscCarInfo"]["TurnSignal"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(
+      50, turn_signal == 1, turn_signal == 3)
+    ret.doorOpen = False
+    ret.seatbeltUnlatched = False
+
+    button_types = {
+      "ACCOnOffBtn": ButtonType.mainCruise,
+      "ACCStopBtn": ButtonType.cancel,
+      "ACCSetBtn": ButtonType.setCruise,
+      "ACCResumeBtn": ButtonType.resumeCruise,
+      "ACCMinusBtn": ButtonType.decelCruise,
+      "TimeGapIncreaseBtn": ButtonType.gapAdjustCruise,
+      "TimeGapDecreaseBtn": ButtonType.gapAdjustCruise,
+    }
+    button_events = []
+    for signal, button_type in button_types.items():
+      pressed = bool(cp.vl["CCButtons"][signal])
+      button_events.extend(create_button_events(pressed, self.c1_button_states[signal], {True: button_type}))
+      self.c1_button_states[signal] = pressed
+    ret.buttonEvents = button_events
+
+    self.c1_msg_pscm = cp.vl["PSCM1"]
+    self.c1_lka_torque = int(cp.vl["PSCM1"]["LKATorque"])
+
+    fp_ret = custom.StarPilotCarState.new_message()
+    return ret, fp_ret
+
  @staticmethod
  def get_can_parsers(CP):
+    if isinstance(CAR(CP.carFingerprint).config, VolvoC1PlatformConfig):
+      return {
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [
+          ("VehicleSpeed1", 50),
+          ("CCButtons", 100),
+          ("PSCM1", 50),
+          ("PedalandBrake", 100),
+          ("TCM0", 10),
+          ("ACC", 17),
+          ("MiscCarInfo", 25),
+        ], 0),
+        Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.cam], [
+          ("FSM0", 100),
+          ("FSM1", 50),
+        ], 2),
+      }
+
    return {
      Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),
@@ -3,6 +3,14 @@
 from opendbc.car.volvo.values import CAR

 FINGERPRINTS = {
+  CAR.VOLVO_V40: [
+    # V40 2017
+    {8: 8, 16: 8, 48: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 208: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 352: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 624: 8, 640: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 848: 8, 853: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
+    # V40 2015
+    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 656: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 832: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1061: 8, 1072: 8, 1409: 8},
+    # V40 2014
+    {8: 8, 16: 8, 64: 8, 85: 8, 101: 8, 112: 8, 114: 8, 117: 8, 128: 8, 176: 8, 192: 8, 224: 8, 240: 8, 245: 8, 256: 8, 272: 8, 288: 8, 291: 8, 293: 8, 304: 8, 325: 8, 336: 8, 424: 8, 432: 8, 437: 8, 464: 8, 472: 8, 480: 8, 528: 8, 608: 8, 648: 8, 652: 8, 657: 8, 681: 8, 693: 8, 704: 8, 707: 8, 709: 8, 816: 8, 864: 8, 880: 8, 912: 8, 928: 8, 943: 8, 944: 8, 968: 8, 970: 8, 976: 8, 992: 8, 997: 8, 1024: 8, 1029: 8, 1072: 8, 1409: 8},
+  ],
  CAR.VOLVO_XC40_RECHARGE: [{
    21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
  }],
@@ -2,11 +2,10 @@ from opendbc.car import structs, get_safety_config
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.carstate import CarState
-from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
+from opendbc.car.volvo.values import CAR, VolvoC1PlatformConfig, VolvoSafetyFlags, VolvoSPAPlatformConfig

 TransmissionType = structs.CarParams.TransmissionType

-VOLVO_FLAG_SPA = 1
 SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo


@@ -18,17 +17,20 @@ class CarInterface(CarInterfaceBase):
  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
    ret.brand = 'volvo'

+    platform = CAR(candidate).config
    safety_param = 0
-    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
-      safety_param = VOLVO_FLAG_SPA
+    if isinstance(platform, VolvoSPAPlatformConfig):
+      safety_param = VolvoSafetyFlags.SPA.value
+    elif isinstance(platform, VolvoC1PlatformConfig):
+      safety_param = VolvoSafetyFlags.C1.value
    ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
    #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]

    ret.dashcamOnly = False

-    ret.steerActuatorDelay = 0.3
+    ret.steerActuatorDelay = 0.2 if isinstance(platform, VolvoC1PlatformConfig) else 0.3
    ret.steerLimitTimer = 0.1
-    ret.steerAtStandstill = True
+    ret.steerAtStandstill = not isinstance(platform, VolvoC1PlatformConfig)

    # Use angle-based steering control for Volvo CMA platform
    ret.steerControlType = structs.CarParams.SteerControlType.angle
@@ -39,4 +41,7 @@ class CarInterface(CarInterfaceBase):

    ret.pcmCruise = True

+    if isinstance(platform, VolvoC1PlatformConfig):
+      ret.transmissionType = TransmissionType.automatic
+
    return ret
@@ -0,0 +1,57 @@
+import pytest
+
+from cereal import custom
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus, ButtonType, CanData, structs
+from opendbc.car.volvo.carstate import CarState
+from opendbc.car.volvo.interface import CarInterface
+from opendbc.car.volvo.values import CAR, DBC
+
+
+def _can_data(msg):
+  address, data, bus = msg
+  return CanData(address, data, bus)
+
+
+def test_c1_carstate_decodes_vehicle_and_cruise_signals():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker(DBC[cp.carFingerprint][Bus.pt])
+
+  messages = [
+    packer.make_can_msg("VehicleSpeed1", 0, {"VehicleSpeed": 72}),
+    packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1, "ACCSetBtn": 1}),
+    packer.make_can_msg("PSCM1", 0, {"SteeringAngleServo": -12.5, "LKATorque": 7}),
+    packer.make_can_msg("PedalandBrake", 0, {"AccPedal": 6, "BrakePedalActive2": 1}),
+    packer.make_can_msg("TCM0", 0, {"GearShifter": 3}),
+    packer.make_can_msg("ACC", 0, {"SpeedTargetACC": 100}),
+    packer.make_can_msg("MiscCarInfo", 0, {"TurnSignal": 1}),
+    packer.make_can_msg("FSM0", 2, {"ACCStatusOnOff": 1, "ACCStatusActive": 1}),
+    packer.make_can_msg("FSM1", 2, {}),
+  ]
+  packets = [(1_000_000, [_can_data(msg) for msg in messages])]
+  for parser in parsers.values():
+    parser.update(packets)
+
+  ret, _ = cs.update(parsers, None)
+  assert ret.vEgoRaw == pytest.approx(20.0)
+  assert ret.steeringAngleDeg == pytest.approx(-12.5, abs=0.05)
+  assert ret.steeringTorque == 7
+  assert ret.gasPressed and ret.brakePressed
+  assert ret.gearShifter == structs.CarState.GearShifter.drive
+  assert ret.cruiseState.available and ret.cruiseState.enabled
+  assert ret.cruiseState.speed == pytest.approx(100 / 3.6)
+  assert ret.leftBlinker and not ret.rightBlinker
+  assert len(ret.buttonEvents) == 2
+  assert any(event.type == ButtonType.cancel and event.pressed for event in ret.buttonEvents)
+  assert any(event.type == ButtonType.setCruise and event.pressed for event in ret.buttonEvents)
+
+  release = packer.make_can_msg("CCButtons", 0, {})
+  packets = [(2_000_000, [_can_data(release)])]
+  for parser in parsers.values():
+    parser.update(packets)
+  ret, _ = cs.update(parsers, None)
+  assert len(ret.buttonEvents) == 2
+  assert any(event.type == ButtonType.cancel and not event.pressed for event in ret.buttonEvents)
+  assert any(event.type == ButtonType.setCruise and not event.pressed for event in ret.buttonEvents)
@@ -1,10 +1,15 @@
 from collections import defaultdict
 from types import SimpleNamespace

+import pytest
+
+from opendbc.can.parser import CANParser
 from opendbc.car.volvo.carcontroller import CarController
 from opendbc.car.volvo.helpers import checksum_lca_5_message
 from opendbc.car.volvo.interface import CarInterface
-from opendbc.car.volvo.values import DBC
+from opendbc.car.volvo.values import CAR, DBC
+from opendbc.car.volvo.volvocan import create_c1_checksum
+from opendbc.safety.tests.libsafety import libsafety_py


 def _zero_message():
@@ -52,18 +57,129 @@ def test_controller_emits_valid_eight_byte_messages_and_lca5_checksum():
  assert data[2] == checksum_lca_5_message(data[0], data[1], data[3], data[4], data[5])


-def test_controller_relays_stock_lca5_angle_when_inactive():
-  cp = CarInterface.get_non_essential_params("VOLVO_XC40_RECHARGE")
+@pytest.mark.parametrize("fingerprint", [CAR.POLESTAR_2, CAR.VOLVO_XC40_RECHARGE])
+def test_controller_relays_complete_stock_lca5_when_inactive(fingerprint):
+  cp = CarInterface.get_non_essential_params(fingerprint)
  controller = CarController(DBC[cp.carFingerprint], cp)
+  parser = CANParser("volvo_mid_1", [("LCA_5", 50)], 0)
+  stock_data = bytes.fromhex("88c04cef1190ba00")
+  parser.update([0, [(0x67, stock_data, 0)]])
  cs = _state()
-  cs.msg_lca_5["LCA_5_STEER"] = 12.0
+  cs.msg_lca_5 = parser.vl["LCA_5"]
  cc = SimpleNamespace(latActive=False, actuators=_Actuators())
+  safety = libsafety_py.libsafety
+  config = cp.safetyConfigs[0]
+  assert safety.set_safety_hooks(config.safetyModel.raw, config.safetyParam) == 0
+  safety.init_tests()
+  safety.set_controls_allowed(False)
+  safety.safety_rx_hook(libsafety_py.make_CANPacket(0x67, 0, stock_data))

  _, can_sends = controller.update(cc, cs, 0, None)
  lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+  assert lca5[1] == stock_data
+  assert safety.safety_tx_hook(libsafety_py.make_CANPacket(lca5[0], lca5[2], lca5[1]))

-  # The inactive path must not manufacture a new angle command.
-  raw = ((lca5[1][6] & 0x7F) << 8) | lca5[1][7]
-  if raw & (1 << 14):
-    raw -= 1 << 15
-  assert abs(raw * 0.05596 - 12.0) < 0.1
+  cs.msg_lca_5["COUNTER"] = 7
+  controller.update(cc, cs, 0, None)
+  controller.update(cc, cs, 0, None)
+  controller.update(cc, cs, 0, None)
+  cc.latActive = True
+  _, can_sends = controller.update(cc, cs, 0, None)
+  active_lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+  assert active_lca5[1][3] >> 4 == 11
+
+
+@pytest.mark.parametrize("fingerprint", [CAR.POLESTAR_2, CAR.VOLVO_XC40_RECHARGE])
+@pytest.mark.parametrize("driver_torque", [20.0, -20.0, 128.0, -127.0])
+def test_override_lca_stream_passes_safety_and_recovers(fingerprint, driver_torque):
+  cp = CarInterface.get_non_essential_params(fingerprint)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _state()
+  cc = SimpleNamespace(latActive=True, actuators=_Actuators())
+  safety = libsafety_py.libsafety
+  config = cp.safetyConfigs[0]
+  assert safety.set_safety_hooks(config.safetyModel.raw, config.safetyParam) == 0
+  safety.init_tests()
+  safety.set_controls_allowed(True)
+
+  for active, torque in [(True, 0), (True, driver_torque), (True, -driver_torque),
+                        (True, 0), (False, 0), (True, 0)]:
+    cc.latActive = active
+    cs.out.steeringTorque = torque
+    for _ in range(350):
+      _, messages = controller.update(cc, cs, 0, None)
+      address, data, bus = next(msg for msg in messages if msg[0] == 0x58)
+      assert safety.safety_tx_hook(libsafety_py.make_CANPacket(address, bus, data)), (
+        active, torque, controller.frame, controller.lca_auth_pos, controller.lca_auth_neg)
+    if active and torque == 0:
+      assert controller.lca_auth_pos == 614
+      assert controller.lca_auth_neg == -614
+    elif active:
+      assert min(abs(controller.lca_auth_pos), abs(controller.lca_auth_neg)) == 0
+
+
+def _c1_state():
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringAngleDeg=10.0, vEgo=12.0, vEgoRaw=12.0),
+    c1_lka_torque=5,
+    c1_msg_pscm=_zero_message(),
+  )
+
+
+def test_c1_controller_emits_checked_steering_and_pscm_relay():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cc = SimpleNamespace(
+    latActive=True,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+
+  actuators, can_sends = controller.update(cc, _c1_state(), 0, None)
+  assert [(msg[0], msg[2]) for msg in can_sends] == [(0x125, 2), (0xD0, 0)]
+
+  fsm = can_sends[1][1]
+  assert fsm[7] & 0x3 == 3
+  assert fsm[6] == create_c1_checksum(fsm)
+  assert 0.0 < actuators.steeringAngleDeg <= 2.0
+
+
+def test_c1_controller_sends_only_cancel_button():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cc = SimpleNamespace(
+    latActive=False,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=True),
+  )
+
+  _, can_sends = controller.update(cc, _c1_state(), 0, None)
+  buttons = next(msg for msg in can_sends if msg[0] == 0x10)
+  assert buttons[2] == 0
+  assert buttons[1][7] == 0x10
+  assert buttons[1][6] == 0
+
+
+def test_c1_controller_temporarily_drops_steering_on_zero_torque_fault():
+  cp = CarInterface.get_non_essential_params(CAR.VOLVO_V40)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _c1_state()
+  cs.c1_lka_torque = 0
+  cc = SimpleNamespace(
+    latActive=True,
+    actuators=_Actuators(),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+
+  directions = []
+  for _ in range(23):
+    _, can_sends = controller.update(cc, cs, 0, None)
+    directions.extend(msg[1][7] & 0x3 for msg in can_sends if msg[0] == 0xD0)
+
+  assert directions[:-1] == [3] * 11
+  assert directions[-1] == 0
+
+  while controller.frame <= 122:
+    _, can_sends = controller.update(cc, cs, 0, None)
+  fsm = next(msg for msg in can_sends if msg[0] == 0xD0)
+  assert fsm[1][7] & 0x3 == 3
@@ -1,13 +1,23 @@
 from dataclasses import dataclass, field
+from enum import IntFlag

 from opendbc.car.structs import CarParams
 from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
 from opendbc.car.lateral import AngleSteeringLimits
+from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
 from opendbc.car.fw_query_definitions import FwQueryConfig

 Ecu = CarParams.Ecu

+# C1 support is adapted from the original dragonpilot V40 port:
+# https://github.com/dragonpilot/dragonpilot/commit/773dce507082d931236b64dca8024dce9625446f
+
+
+class VolvoSafetyFlags(IntFlag):
+  SPA = 1
+  C1 = 2
+

 class CarControllerParams:
  STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
@@ -61,14 +71,12 @@ class CarControllerParams:
  # (potholes, lane corrections) get full yield while light sustained pressure
  # only gets a soft yield. yield_signed = YIELD_BASE − YIELD_SLOPE *
  # max(0, drv_mag_filt − OVERRIDE_ENTER), clamped to [YIELD_MIN, YIELD_BASE].
-  # At |drv|=7 (just over threshold): yield = +60 (light resistance).
-  # At |drv|=14: yield ≈ -4 (crosses past zero — EPS hands wheel to driver).
  # drv_mag_filt is a low-pass of |drv| (alpha=0.04, ~250 ms time constant) —
  # without it, 1-2 unit driver-torque jitter became ~10 unit yield-arm jitter
  # which PSCM converted to felt ripple at sustained co-steering pressure.
  LCA_AUTH_YIELD_BASE = 60        # yield-arm magnitude at the override threshold
  LCA_AUTH_YIELD_SLOPE = 8        # counts of yield reduction per unit |drv torque| above threshold
-  LCA_AUTH_YIELD_MIN = -30        # cap how far past zero the yield arm can go (full hand-over)
+  LCA_AUTH_YIELD_MIN = 0          # yield authority without crossing the safety sign boundary
  LCA_AUTH_YIELD_LP_ALPHA = 0.04  # LP-filter coefficient on |drv| for yield calc (~250 ms tau)
  LCA_AUTH_SPLIT = 200            # symmetric → asymmetric handover
  LCA_AUTH_REBUILD_RATE = 230     # counts/s (≈ 2.7 s rebuild from 0 to 614)
@@ -81,6 +89,19 @@ class CarControllerParams:
    ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
  )

+  C1_STEER_NO = 0
+  C1_STEER = 3
+  C1_N_ZERO_TORQUE = 12
+  C1_ANGLE_ERROR = 20.0
+  C1_ANGLE_DELTA_BP = [0., 8.33, 13.89, 19.44, 25., 30.55, 36.1]
+  C1_ANGLE_DELTA_UP = [2., 1.2, .25, .20, .15, .10, .10]
+  C1_ANGLE_DELTA_DOWN = [2., 1.2, .25, .20, .15, .10, .10]
+  C1_ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    359.9,
+    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_UP),
+    (C1_ANGLE_DELTA_BP, C1_ANGLE_DELTA_DOWN),
+  )
+

@dataclass
 class VolvoCarDocs(CarDocs):
@@ -105,7 +126,26 @@ class VolvoSPAPlatformConfig(PlatformConfig):
  })


+@dataclass
+class VolvoC1PlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.pt: 'volvo_v40_2017_pt',
+    Bus.cam: 'volvo_v40_2017_pt',
+  })
+
+
 class CAR(Platforms):
+  VOLVO_V40 = VolvoC1PlatformConfig(
+    [VolvoCarDocs("Volvo V40 2013-19")],
+    CarSpecs(
+      mass=1610,
+      wheelbase=2.647,
+      steerRatio=14.7,
+      centerToFrontRatio=0.44,
+      minSteerSpeed=1.0 * CV.KPH_TO_MS,
+    ),
+  )
+
  VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
    [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
    CarSpecs(
@@ -2,6 +2,47 @@ from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_m
                                       checksum_2_pscm_related_message, checksum_lca_5_message)
 from opendbc.car.carlog import carlog

+
+def create_c1_pscm_message(packer, msg_pscm: dict):
+  values = {
+    "LKATorque": 0,
+    "SteeringAngleServo": msg_pscm["SteeringAngleServo"],
+    "byte0": msg_pscm["byte0"],
+    "byte3": msg_pscm["byte3"],
+    "byte4": msg_pscm["byte4"],
+    "byte7": msg_pscm["byte7"],
+    "LKAActive": int(msg_pscm["LKAActive"]) & 0xD,
+  }
+  return packer.make_can_msg("PSCM1", 2, values)
+
+
+def create_c1_checksum(data: bytes) -> int:
+  angle_raw = ((data[4] & 0x3F) << 8) | data[5]
+  direction = data[7] & 0x3
+  checksum_sum = (data[3] + direction + angle_raw + (angle_raw >> 8)) & 0xFF
+  return checksum_sum ^ 0xFF
+
+
+def create_c1_steering_control(packer, apply_angle: float, lat_active: bool):
+  values = {
+    "SET_X_E3": 0xE3,
+    "SET_X_B4": 0xB4,
+    "SET_X_08": 0x08,
+    "TrqLim": 0,
+    "LKAAngleReq": apply_angle,
+    "LKASteerDirection": 3 if lat_active else 0,
+    "SET_X_25": 0x25,
+    "SET_X_02": 0x02,
+  }
+  data = packer.make_can_msg("FSM1", 0, values)[1]
+  values["Checksum"] = create_c1_checksum(data)
+  return packer.make_can_msg("FSM1", 0, values)
+
+
+def create_c1_cancel(packer):
+  return packer.make_can_msg("CCButtons", 0, {"ACCStopBtn": 1})
+
+
 def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
                       authority_pos: int = 614, authority_neg: int = -614,
                       overrides: dict | None = None):
@@ -209,6 +250,9 @@ def create_lca_5_message(packer, lat_active: bool, target_angle_deg: float, msg_
    CAN message for LCA_5 on bus 2
  """

+  if not lat_active:
+    return packer.make_can_msg('LCA_5', 2, msg_lca_5)
+
  # DBC defines LCA_5_STEER as 15-bit signed with scale 0.05596 deg/count
  # Packer handles the encoding automatically - just pass the angle in degrees

@@ -220,7 +264,7 @@ def create_lca_5_message(packer, lat_active: bool, target_angle_deg: float, msg_
    'WHEEL_SPEED_2': msg_lca_5['WHEEL_SPEED_2'],
    'NEW_SIGNAL_5': msg_lca_5['NEW_SIGNAL_5'],
    'NEW_SIGNAL_2': msg_lca_5['NEW_SIGNAL_2'],
-    'LCA_5_STEER': target_angle_deg if lat_active else msg_lca_5['LCA_5_STEER'],
+    'LCA_5_STEER': target_angle_deg,
    'COUNTER': counter,
  }

@@ -727,10 +727,14 @@ BO_ 1259 LOCAL_TIME2: 8 XXX
 SG_ NEW_SIGNAL_3 : 39|1@0+ (1,0) [0|1] "" XXX

 BO_ 1264 LOCAL_TIME: 8 XXX
- SG_ HOURS : 12|5@0+ (1,0) [0|31] "" XXX
- SG_ MINUTES : 21|6@0+ (1,0) [0|63] "" XXX
- SG_ SECONDS : 31|8@0+ (1,0) [0|59] "" XXX
+ SG_ HOURS : 8|8@1+ (1,0) [0|23] "" XXX
+ SG_ MINUTES : 16|8@1+ (1,0) [0|59] "" XXX
+ SG_ SECONDS : 24|8@1+ (1,0) [0|59] "" XXX
+ SG_ MONTH : 34|4@1+ (1,0) [1|12] "" XXX
+ SG_ YEAR : 40|8@1+ (1,2000) [2000|2255] "" XXX
+ SG_ DAY : 48|8@1+ (1,0) [1|31] "" XXX

+CM_ BO_ 1264 "Cluster wall clock, 1Hz. Local time, not UTC. All 0xFF until the cluster initializes.";
 CM_ SG_ 96 BRAKE_PRESSURE "User applied brake pedal pressure. Ramps from computer applied pressure on falling edge of cruise. Cruise cancels if !=0";
 CM_ SG_ 101 BRAKE_POSITION "User applied brake pedal position, max is ~700. Signed on some vehicles";
 CM_ SG_ 203 ADAS_ActvACISta "ADAS Active AngleControlInterface State";
--- a/Show More
+++ b/Show More